Resilient Collision-tolerant Navigation in Confined Environments
Paolo De Petris Huan Nguyen Mihir Kulkarni Frank Mascarich Kostas Alexis Paolo De Petris Huan Nguyen Mihir Kulkarni Frank Mascarich Kostas Alexis
This work presents the design and autonomous navigation policy of the Resilient Micro Flyer, a new type of collision-tolerant robot tailored to fly through extremely confined environments and manhole-sized tubes. The robot maintains a low weight (<500g) and implements a combined rigid-compliant design through the integration of elastic flaps around its stiff collision-tolerant frame. These passive...