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The Roller-Quadrotor is a novel quadrotor that combines the maneuverabilityof aerial drones with the endurance of ground vehicles. This work focuses onthe design, modeling, and experimental validation of the Roller-Quadrotor.Flight capabilities are achieved through a quadrotor configuration, with fourthrust-providing actuators. Additionally, rolling motion is facilitated by aunicycle-driven and rotor-assisted turning structure. By utilizing terrestriallocomotion, the vehicle can overcome rolling and turning resistance, therebyconserving energy compared to its flight mode. This innovative approach notonly tackles the inherent challenges of traditional rotorcraft but also enablesthe vehicle to navigate through narrow gaps and overcome obstacles by takingadvantage of its aerial mobility. We develop comprehensive models andcontrollers for the Roller-Quadrotor and validate their performance throughexperiments. The results demonstrate its seamless transition between aerial andterrestrial locomotion, as well as its ability to safely navigate through gapshalf the size of its diameter. Moreover, the terrestrial range of the vehicleis approximately 2.8 times greater, while the operating time is about 41.2times longer compared to its aerial capabilities. These findings underscore thefeasibility and effectiveness of the proposed structure and control mechanismsfor efficient navigation through challenging terrains while conserving energy.

Roller-Quadrotor: A Novel Hybrid Terrestrial/Aerial Quadrotor with Unicycle-Driven and Rotor-Assisted Turning