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Unmanned aerial vehicles are rapidly evolving within the field of robotics.However, their performance is often limited by payload capacity, operationaltime, and robustness to impact and collision. These limitations of aerialvehicles become more acute for missions in challenging environments such assubterranean structures which may require extended autonomous operation inconfined spaces. While software solutions for aerial robots are developingrapidly, improvements to hardware are critical to applying advanced plannersand algorithms in large and dangerous environments where the short range andhigh susceptibility to collisions of most modern aerial robots makeapplications in realistic subterranean missions infeasible. To provide suchhardware capabilities, one needs to design and implement a hardware solutionthat takes into the account the Size, Weight, and Power (SWaP) constraints.This work focuses on providing a robust and versatile hybrid platform thatimproves payload capacity, operation time, endurance, and versatility. TheBi-modal Aerial and Terrestrial hybrid vehicle (BAXTER) is a solution thatprovides two modes of operation, aerial and terrestrial. BAXTER employs twonovel hardware mechanisms: the M-Suspension and the Decoupled Transmissionwhich together provide resilience during landing and crashes and efficientterrestrial operation. Extensive flight tests were conducted to characterizethe vehicle's capabilities, including robustness and endurance. Additionally,we propose Agile Mode Transfer (AMT), a transition from aerial to terrestrialoperation that seeks to minimize impulses during impact to the ground which isa quick and simple transition process that exploits BAXTER's resilience toimpact.

BAXTER: Bi-modal Aerial-Terrestrial Hybrid Vehicle for Long-endurance Versatile Mobility: Preprint Version