Contact-Prioritized Planning of Impact-Resilient Aerial Robots With an Integrated Compliant Arm

This article develops an impact-resilient aerial robot (s-ARQ) equipped with a compliant arm to sense contacts and reduce collision impact featuring real-time contact force estimator nonlinear motion controller handle collisions while performing aggressive maneuvers stabilize from high-speed wall collisions. Further, new collision-inclusive planning method that aims prioritize facilitate navigation in cluttered environments is proposed. A range of simulated physical experiments demonstrate key benefits the contact-prioritized (CP) planner. Experimental results show has only 4% weight increase but around 40% reduction drop tests tests. s-ARQ can at 3.0 m/s success rate 100%. Our proposed CP accelerate computation time having shorter trajectory larger clearances compared $^\ast$ RRT planners velocity constraints. Online partially known further preliminary feasibility our apply practical use cases.