Here's a clever way to "perch" and land quadrotors, using propeller guards instead of "feet". It requires reversible motor electronics, but other than that it's simple and elegant.
For "perching" on a ceiling, the drone simply flies up against the ceiling. The prop guards prevent the props from actually touching the ceiling, but the props are still close enough to get extra suction.
To land, the drone goes upside-down.
