Toward Impact-resilient Quadrotor Design, Collision Characterization and Recovery Control to Sustain Flight after Collisions

@article{Liu2021TowardIQ,
  title={Toward Impact-resilient Quadrotor Design, Collision Characterization and Recovery Control to Sustain Flight after Collisions},
  author={Zhichao Liu and Konstantinos Karydis},
  journal={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2021},
  pages={183-189}
}
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 characterization method based on Hall sensors, as well as a new recovery control method to generate and track a… 
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