Cooperative, connected and automated Intelligent Transportation System (ITS) aims to improve road traffic safety, comfort, security, and traffic management by sharing data/information among vehicles, infrastructure and road users. Cooperative ITS (C-ITS) also targets the reduction of environmental impact by the road transportation systems. Regarding self-driving vehicles, C-ITS plays a complementary role for enhancing on-board vehicle sensory data and thus making autonomous vehicles more robust and safe. In this paper we present the C-ITS platform, the test-cases and scenarios to be performed during the Lisbon Pilot of the AUTOCITS project. We also provide a description of the C-ITS Day-1 services, as simulated and also real-world events, that will be deployed and evaluated during the test-cases. Conventional, instrumented and autonomous vehicles will take part on the Lisbon Pilot, all equipped with on-board connected vehicular technologies. Two scenarios will be considered, motorway and urban-node scenarios, having distinct vehicles and test-cases, but all sharing the same C-ITS technology framework.

This paper addresses the landing problem of a vertical take-off and landing vehicle, exemplified by a quadrotor, on a moving platform using image-based visual servo control. Observable features on a flat and textured target plane are exploited to derive a suitable control law. The target plane may be moving with bounded linear acceleration in any direction. For control purposes, the image of the centroid for a collection of landmarks is used as position measurement, whereas the translational optical flow is used as velocity measurement. The proposed control law guarantees convergence to the desired landing spot on the target plane, without estimating any parameter related to the unknown height, which is also guaranteed to remain strictly positive. Moreover, convergence is guaranteed even in the presence of bounded and possibly time-varying disturbances, resulting, for example, from the motion of the target plane, measurement errors, or wind-induced force disturbances. To improve performance, an estimator for unknown constant force disturbances is also included in the control law. Simulation and experimental results are provided to illustrate and assess the performance of the proposed controller.