@article {9842318, title = {Learning Variable Impedance Control for Aerial Sliding on Uneven Heterogeneous Surfaces by Proprioceptive and Tactile Sensing}, journal = {IEEE Robotics and Automation Letters}, year = {2022}, month = {2022/07}, pages = {1-8}, doi = {10.1109/LRA.2022.3194315}, author = {Zhang, Weixuan and Ott, Lionel and Tognon, Marco and Siegwart, Roland} }