This video shows the first steps towards Rigid Airborne Docking between an Overactuated Multicopter and a Fixed-wing UAV by developing and testing an overactuated rotorcraft that can autonomously dock onto a target at fixed-wing velocities. The control system uses Incremental Non-Linear Dynamic Inversion Control (INDI) to achieve linear accelerations with lateral and longitudinal motors, enabling robust horizontal control independent of attitude. A relative guidance algorithm for the docking approach path is presented, along with a vision sensing approach using ArUco markers and IR LEDs. Successful docking and separation were achieved in the wind tunnel at speeds of up to $15$m/s.
