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Currently deployed unmanned rotorcraft rely on carefully preplanned missions and operate from prepared sites and thus avoid the need to perceive and react to the environment. Here we consider the problems of finding suitable but previously unmapped landing sites given general coordinates of the goal and planning collision free trajectories in real time to land at the "optimal" site. This requires accurate mapping, fast landing zone evaluation algorithms, and motion planning. We report here ondoi:10.1109/icra.2012.6225215 dblp:conf/icra/SchererCS12 fatcat:de72gokcqjfo7llah7eg6vnxyy