Toward Impact-resilient Quadrotor Design, Collision Characterization and Recovery Control to Sustain Flight after Collisions
Zhichao Liu Konstantinos Karydis Zhichao Liu Konstantinos Karydis
Collision detection and recovery for aerial robots remain a challenge because of the limited space for sensors and local stability of the flight controller. We introduce a novel collision-resilient quadrotor that features a compliant arm design to enable free flight while allowing for one passive degree of freedom to absorb shocks. We further propose a novel collision detection and characterizatio...