This page serves to gather literature in the domain of Collision-tolerant Micro Aerial Vehicles (CT-MAVs). We list literature we have identified and include a form (look at the end of this page) to receive information for other publications or new work. We will be periodically reviewing form submissions and updating this page to list the additional publications. Publications will be listed based on "Harvard" style as provided by Google Scholar or similar tool.
When a paper may belong to more than one categories, we will list it only on one based on what we considered best fit or input by the authors.
Fully-rigid CT-MAVs
Wang, S., Anselmo, N., Garrett, M., Remias, R., Trivett, M., Christoffersen, A. and Bezzo, N., 2020, April. Fly-crash-recover: A sensor-based reactive framework for online collision recovery of uavs. In 2020 Systems and Information Engineering Design Symposium (SIEDS) (pp. 1-6). IEEE.
Mulgaonkar, Y., Makineni, A., Guerrero-Bonilla, L. and Kumar, V., 2017. Robust aerial robot swarms without collision avoidance. IEEE Robotics and Automation Letters, 3(1), pp.596-603.
Mulgaonkar, Y., Liu, W., Thakur, D., Daniilidis, K., Taylor, C.J. and Kumar, V., 2020, May. The tiercel: A novel autonomous micro aerial vehicle that can map the environment by flying into obstacles. In 2020 IEEE International Conference on Robotics and Automation (ICRA) (pp. 7448-7454). IEEE.
De Petris, P., Nguyen, H., Dharmadhikari, M., Kulkarni, M., Khedekar, N., Mascarich, F. and Alexis, K., 2022. RMF-owl: A collision-tolerant flying robot for autonomous subterranean exploration. arXiv preprint arXiv:2202.11055.
Nguyen, H., Fyhn, S.H., De Petris, P. and Alexis, K., 2022. Motion Primitives-based Navigation Planning using Deep Collision Prediction. arXiv preprint arXiv:2201.03254.
Brescianini, D. and D’Andrea, R., 2018. An omni-directional multirotor vehicle. Mechatronics, 55, pp.76-93.
Moon, J.S., Kim, C., Youm, Y. and Bae, J., 2018. UNI-Copter: A portable single-rotor-powered spherical unmanned aerial vehicle (UAV) with an easy-to-assemble and flexible structure. Journal of Mechanical Science and Technology, 32(5), pp.2289-2298.
Elastic CT-MAVs
de Azambuja, R., Fouad, H. and Beltrame, G., 2021. A Flexible Exoskeleton for Collision Resilience. arXiv preprint arXiv:2107.11090.
de Azambuja, R., Fouad, H., Bouteiller, Y., Sol, C. and Beltrame, G., 2022, May. When Being Soft Makes You Tough: A Collision-Resilient Quadcopter Inspired by Arthropods' Exoskeletons. In 2022 International Conference on Robotics and Automation (ICRA) (pp. 7854-7860). IEEE.
Chen, Y., Xu, S., Ren, Z. and Chirarattananon, P., 2021. Collision resilient insect-scale soft-actuated aerial robots with high agility. IEEE Transactions on Robotics, 37(5), pp.1752-1764.
De Petris, P., Nguyen, H., Dang, T., Mascarich, F. and Alexis, K., 2020, November. Collision-tolerant autonomous navigation through manhole-sized confined environments. In 2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) (pp. 84-89). IEEE.
Klaptocz, A., 2012. Design of flying robots for collision absorption and self-recovery (No. THESIS). EPFL.
Klaptocz, A., Briod, A., Daler, L., Zufferey, J.C. and Floreano, D., 2013, November. Euler spring collision protection for flying robots. In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 1886-1892). IEEE.
Briod, A., Klaptocz, A., Zufferey, J.C. and Floreano, D., 2012, July. The AirBurr: A flying robot that can exploit collisions. In 2012 ICME International Conference on Complex Medical Engineering (CME) (pp. 569-574). IEEE.
Mintchev, S., de Rivaz, S. and Floreano, D., 2017. Insect-inspired mechanical resilience for multicopters. IEEE Robotics and automation letters, 2(3), pp.1248-1255.
Liu, Z. and Karydis, K., 2021, May. Toward impact-resilient quadrotor design, collision characterization and recovery control to sustain flight after collisions. In 2021 IEEE International Conference on Robotics and Automation (ICRA) (pp. 183-189). IEEE.
Patnaik, K., Mishra, S., Sorkhabadi, S.M.R. and Zhang, W., 2020, October. Design and Control of SQUEEZE: A Spring-augmented QUadrotor for intEractions with the Environment to squeeZE-and-fly. In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 1364-1370). IEEE.
Bui, S.T., Luu, Q.K., Nguyen, D.Q., Le, N.D.M., Loianno, G. and Ho, V.A., 2022. Tombo Propeller: Bio-Inspired Deformable Structure toward Collision-Accommodated Control for Drones. arXiv preprint arXiv:2202.07177.
Cadogan, D., Smith, T., Uhelsky, F. and Mackusick, M., 2004, April. Morphing inflatable wing development for compact package unmanned aerial vehicles. In 45th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics & Materials Conference (p. 1807).
Cadogan, D., Graham, W. and Smith, T., 2003, September. Inflatable and rigidizable wings for unmanned aerial vehicles. In 2nd AIAA" Unmanned Unlimited" Conf. and Workshop & Exhibit (p. 6630).
Origami-based CT-MAVs
Sareh, P., Chermprayong, P., Emmanuelli, M., Nadeem, H. and Kovac, M., 2018. The spinning cyclic ‘Miura-oRing’for mechanical collision-resilience. Origami 7, 3, pp.981-994.
Sareh, P., Chermprayong, P., Emmanuelli, M., Nadeem, H. and Kovac, M., 2018. Rotorigami: A rotary origami protective system for robotic rotorcraft. Science Robotics, 3(22), p.eaah5228.
Kornatowski, P.M., Mintchev, S. and Floreano, D., 2017, September. An origami-inspired cargo drone. In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 6855-6862). IEEE.
Shu, J. and Chirarattananon, P., 2019. A quadrotor with an origami-inspired protective mechanism. IEEE Robotics and Automation Letters, 4(4), pp.3820-3827.
Phan, H.V. and Park, H.C., 2020. Mechanisms of collision recovery in flying beetles and flapping-wing robots. Science, 370(6521), pp.1214-1219.
Dilaveroğlu, L. and Özcan, O., 2020, May. Minicore: A miniature, foldable, collision resilient quadcopter. In 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft) (pp. 176-181). IEEE.
Tensegrity-based CT-MAVs
Zha, J., Wu, X., Kroeger, J., Perez, N. and Mueller, M.W., 2020, October. A collision-resilient aerial vehicle with icosahedron tensegrity structure. In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 1407-1412). IEEE.
Johnson, B. and Agogino, A., 2021. Feasibility Analysis of Unmanned Aerial Vehicle Based on Tensegrity Structure.
Savin, S., Al Badr, A., Devitt, D., Fedorenko, R. and Klimchik, A., 2022. Mixed-Integer-Based Path and Morphing Planning for a Tensegrity Drone. Applied Sciences, 12(11), p.5588.
Zappetti, D., Sun, Y., Gevers, M., Mintchev, S. and Floreano, D., 2022. Dual Stiffness Tensegrity Platform for Resilient Robotics. Advanced Intelligent Systems, p.2200025.
Gimbal-based CT-MAVs
Briod, A., Kornatowski, P., Zufferey, J.C. and Floreano, D., 2014. A collision‐resilient flying robot. Journal of Field Robotics, 31(4), pp.496-509.
Ramos, A., Sanchez-Cuevas, P.J., Heredia, G. and Ollero, A., 2019, November. Spherical fully covered uav with autonomous indoor localization. In Iberian Robotics conference (pp. 355-367). Springer, Cham.
Salaan, C.J., Tadakuma, K., Okada, Y., Sakai, Y., Ohno, K. and Tadokoro, S., 2019. Development and experimental validation of aerial vehicle with passive rotating shell on each rotor. IEEE Robotics and Automation Letters, 4(3), pp.2568-2575.
Mizutani, S., Okada, Y., Salaan, C.J., Ishii, T., Ohno, K. and Tadokoro, S., 2015, September. Proposal and experimental validation of a design strategy for a UAV with a passive rotating spherical shell. In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 1271-1278). IEEE.
Salaan, C.J.O., Okada, Y., Mizutani, S., Ishii, T., Koura, K., Ohno, K. and Tadokoro, S., 2018. Close visual bridge inspection using a UAV with a passive rotating spherical shell. Journal of Field Robotics, 35(6), pp.850-867.
Bioinspired CT-MAVs
Vourtsis, C., Stewart, W. and Floreano, D., 2021. Robotic Elytra: Insect-Inspired Protective Wings for Resilient and Multi-Modal Drones. IEEE Robotics and Automation Letters, 7(1), pp.223-230.
Sihite, E., Kelly, P. and Ramezani, A., 2020. Computational structure design of a bio-inspired armwing mechanism. IEEE Robotics and Automation Letters, 5(4), pp.5929-5936.
Tu, Z., Fei, F., Liu, L., Zhou, Y. and Deng, X., 2021. Flying with damaged wings: The effect on flight capacity and bio-inspired coping strategies of a flapping wing robot. IEEE Robotics and Automation Letters, 6(2), pp.2114-2121.
CT-MAVs with Expandable structures
Hedayati, H., Suzuki, R., Leithinger, D. and Szafir, D., 2020, August. Pufferbot: Actuated expandable structures for aerial robots. In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 1338-1343). IEEE.
Morphing and Foldable CT-MAVs
Kornatowski, P.M., Feroskhan, M., Stewart, W.J. and Floreano, D., 2020. A morphing cargo drone for safe flight in proximity of humans. IEEE Robotics and Automation Letters, 5(3), pp.4233-4240.
Patnaik, K., Mishra, S., Chase, Z. and Zhang, W., 2021, July. Collision recovery control of a foldable quadrotor. In 2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) (pp. 418-423). IEEE.
Desbiez, A., Expert, F., Boyron, M., Diperi, J., Viollet, S. and Ruffier, F., 2017, October. X-Morf: A crash-separable quadrotor that morfs its X-geometry in flight. In 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) (pp. 222-227). IEEE.
Biomodal Aerial-Ground CT-MAVs
Kalantari, A., Touma, T., Kim, L., Jitosho, R., Strickland, K., Lopez, B.T. and Agha-Mohammadi, A.A., 2020, March. Drivocopter: A concept hybrid aerial/ground vehicle for long-endurance mobility. In 2020 IEEE Aerospace Conference (pp. 1-10). IEEE.
Fan, D.D., Thakker, R., Bartlett, T., Miled, M.B., Kim, L., Theodorou, E. and Agha-mohammadi, A.A., 2019, November. Autonomous hybrid ground/aerial mobility in unknown environments. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 3070-3077). IEEE.
Kalantari, A. and Spenko, M., 2013, May. Design and experimental validation of hytaq, a hybrid terrestrial and aerial quadrotor. In 2013 IEEE International Conference on Robotics and Automation (pp. 4445-4450). IEEE.
Zhang, R., Wu, Y., Zhang, L., Xu, C. and Gao, F., 2021. TIE: An Autonomous and Adaptive Terrestrial-Aerial Quadrotor. arXiv preprint arXiv:2109.04706.
Zhang, R., Wu, Y., Zhang, L., Xu, C. and Gao, F., 2022. Autonomous and Adaptive Navigation for Terrestrial-Aerial Bimodal Vehicles. IEEE Robotics and Automation Letters, 7(2), pp.3008-3015.
Pimentel, M. and Basiri, M., 2022. A Bimodal Rolling-Flying Robot for Micro Level Inspection of Flat and Inclined Surfaces. IEEE Robotics and Automation Letters, 7(2), pp.5135-5142.
Agha-mohammadi, A.A., Tagliabue, A., Schneider, S., Morrell, B., Pavone, M., Hofgartner, J., Nesnas, I.A., Carpenter, K., Amini, R.B., Kalantari, A. and Babuscia, A., 2019. The Shapeshifter: A Morphing, Multi-Agent, Multi-Modal Robotic Platform for the Exploration of Titan (No. HQ-E-DAA-TN75831).
Jia, H., Bai, S., Ding, R., Shu, J., Deng, Y., Khoo, B.L. and Chirarattananon, P., 2022. A Quadrotor With a Passively Reconfigurable Airframe for Hybrid Terrestrial Locomotion. IEEE/ASME Transactions on Mechatronics.
Lu, P., Xu, K., Ding, X., Jiang, S., Tang, Z. and Wang, Y., 2019, December. Design and Analysis of a Flying-crawling Spherical Robot for Multi-mode Movement. In 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) (pp. 2855-2860). IEEE.
Atay, S., Bryant, M. and Buckner, G., 2021. The spherical rolling-flying vehicle: dynamic modeling and control system design. Journal of Mechanisms and Robotics, 13(5).
Fabris, A., Kirchgeorg, S. and Mintchev, S., 2021, October. A Soft Drone with Multi-modal Mobility for the Exploration of Confined Spaces. In 2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) (pp. 48-54). IEEE.
Multi-linked Reconfigurable CT-MAVs
Oung, R. and D’Andrea, R., 2014. The distributed flight array: Design, implementation, and analysis of a modular vertical take-off and landing vehicle. The International Journal of Robotics Research, 33(3), pp.375-400.
Zhao, M., Kawasaki, K., Anzai, T., Chen, X., Noda, S., Shi, F., Okada, K. and Inaba, M., 2018. Transformable multirotor with two-dimensional multilinks: Modeling, control, and whole-body aerial manipulation. The International Journal of Robotics Research, 37(9), pp.1085-1112.
Zhao, M., Anzai, T., Shi, F., Chen, X., Okada, K. and Inaba, M., 2018. Design, modeling, and control of an aerial robot dragon: A dual-rotor-embedded multilink robot with the ability of multi-degree-of-freedom aerial transformation. IEEE Robotics and Automation Letters, 3(2), pp.1176-1183.
Nguyen, H., Dang, T. and Alexis, K., 2020, May. The reconfigurable aerial robotic chain: Modeling and control. In 2020 IEEE International Conference on Robotics and Automation (ICRA) (pp. 5328-5334). IEEE.
Nguyen, H. and Alexis, K., 2021. Forceful aerial manipulation based on an aerial robotic chain: Hybrid modeling and control. IEEE Robotics and Automation Letters, 6(2), pp.3711-3719.
Autonomy-oriented CT-MAVs
Briod, A., Kornatowski, P., Klaptocz, A., Garnier, A., Pagnamenta, M., Zufferey, J.C. and Floreano, D., 2013, November. Contact-based navigation for an autonomous flying robot. In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 3987-3992). IEEE.
Gandhi, D., Pinto, L. and Gupta, A., 2017, September. Learning to fly by crashing. In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 3948-3955). IEEE.
Contact-assisted Autonomy on CT-MAVs
Liu, C. and Tron, R., 2021, May. Sensing via collisions: a smart cage for quadrotors with applications to self-localization. In 2021 IEEE International Conference on Robotics and Automation (ICRA) (pp. 4033-4039). IEEE.
Lew, T., Emmei, T., Fan, D.D., Bartlett, T., Santamaria-Navarro, A., Thakker, R. and Agha-mohammadi, A.A., 2019, October. Contact inertial odometry: collisions are your friends. In The International Symposium of Robotics Research (pp. 938-958). Springer, Cham.
Khedekar, N., Mascarich, F., Papachristos, C., Dang, T. and Alexis, K., 2019, May. Contact–based navigation path planning for aerial robots. In 2019 International Conference on Robotics and Automation (ICRA) (pp. 4161-4167). IEEE.
Tomić, T., Lutz, P., Schmid, K., Mathers, A. and Haddadin, S., 2020. Simultaneous contact and aerodynamic force estimation (s-cafe) for aerial robots. The International Journal of Robotics Research, 39(6), pp.688-728.
Motion Planning for CT-MAVs
Zha, J. and Mueller, M.W., 2021, May. Exploiting collisions for sampling-based multicopter motion planning. In 2021 IEEE International Conference on Robotics and Automation (ICRA) (pp. 7943-7949). IEEE.
Lu, Z., Liu, Z. and Karydis, K., 2021, September. Deformation Recovery Control and Post-Impact Trajectory Replanning for Collision-Resilient Mobile Robots. In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 2030-2037). IEEE.
Mote, M., Egerstedt, M., Feron, E., Bylard, A. and Pavone, M., 2020. Collision-inclusive trajectory optimization for free-flying spacecraft. Journal of Guidance, Control, and Dynamics, 43(7), pp.1247-1258.
Mote, M.L., Afman, J.P. and Feron, E., 2016. A framework for collision-tolerant optimal trajectory planning of autonomous vehicles. arXiv preprint arXiv:1611.07608.
Mote, M., Afman, J.P. and Feron, E., 2017, December. Robotic trajectory planning through collisional interaction. In 2017 IEEE 56th Annual Conference on Decision and Control (CDC) (pp. 1144-1149). IEEE.