Abstract: This paper presents a rigorous analysis of a promising bi-modal multirotor vehicle that can roll and fly. This class of vehicle provides energetic and locomotive advantages over traditional unimodal vehicles. Despite ...

Abstract: This paper presents the dynamic modeling and control of a bi-modal, multirotor vehicle that is capable of omnidirectional terrestrial rolling and multirotor flight. It focuses on the theoretical development of a terrestrial ...

Abstract: This paper presents a robust method for controlling the terrestrial motion of a bimodal multirotor vehicle that can roll and fly. Factors influencing the mobility and controllability of the vehicle are explored and compared ...

Abstract: This work describes a design optimization framework for a rolling-flying vehicle consisting of a conventional quadrotor configuration with passive wheels. For a baseline comparison, the optimization approach is also applied ...