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The article develops an impact-resilient aerial robot (s-ARQ) equipped with acompliant arm to sense contacts and reduce collision impact and featuring areal-time contact force estimator and a non-linear motion controller to handlecollisions while performing aggressive maneuvers and stabilize from high-speedwall collisions. Further, a new collision-inclusive planning method that aimsto prioritize contacts to facilitate aerial robot navigation in clutteredenvironments is proposed. A range of simulated and physical experimentsdemonstrate key benefits of the robot and the contact-prioritized (CP) planner.Experimental results show that the compliant robot has only a $4\%$ weightincrease but around $40\%$ impact reduction in drop tests and wall collisiontests. s-ARQ can handle collisions while performing aggressive maneuvers andstabilize from high-speed wall collisions at $3.0$ m/s with a success rate of$100\%$. Our proposed compliant robot and contact-prioritized planning methodcan accelerate computation time while having shorter trajectory time and largerclearances compared to A$^\ast$ and RRT$^\ast$ planners with velocityconstraints. Online planning tests in partially-known environments furtherdemonstrate the preliminary feasibility of our method to apply in practical usecases.

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