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Micro Aerial Vehicles (MAVs) often face a high risk of collision duringautonomous flight, particularly in cluttered and unstructured environments. Tomitigate the collision impact on sensitive onboard devices, resilient MAVs withmechanical protective cages and reinforced frames are commonly used. However,compliant and impact-resilient MAVs offer a promising alternative by reducingthe potential damage caused by impacts. In this study, we present novelfindings on the impact-resilient capabilities of MAVs equipped with passivesprings in their compliant arms. We analyze the effect of compliance throughdynamic modeling and demonstrate that the inclusion of passive springs enhancesimpact resilience. The impact resilience is extensively tested to stabilize theMAV following wall collisions under high-speed and large-angle conditions.Additionally, we provide comprehensive comparisons with rigid MAVs to betterdetermine the tradeoffs in flight by embedding compliance onto the robot'sframe.

Dynamic Modeling and Analysis of Impact-resilient MAVs Undergoing High-speed and Large-angle Collisions with the Environment