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This paper presents the design, modeling, and experimental validation ofCapsuleBot, a compact hybrid aerial-ground vehicle designed for long-termcovert reconnaissance. CapsuleBot combines the manoeuvrability of bicopter inthe air with the energy efficiency and noise reduction of ground vehicles onthe ground. To accomplish this, a structure named actuated-wheel-rotor has beendesigned, utilizing a sole motor for both the unilateral rotor tilting in thebicopter configuration and the wheel movement in ground mode. CapsuleBot comesequipped with two of these structures, enabling it to attain hybridaerial-ground propulsion with just four motors. Importantly, the decoupling ofmotion modes is achieved without the need for additional drivers, enhancing theversatility and robustness of the system. Furthermore, we have designed thefull dynamics and control for aerial and ground locomotion based on thebicopter model and the two-wheeled self-balancing vehicle model. Theperformance of CapsuleBot has been validated through experiments. The resultsdemonstrate that CapsuleBot produces 40.53% less noise in ground mode andconsumes 99.35% less energy, highlighting its potential for long-term covertreconnaissance applications.

CapsuleBot: A Novel Compact Hybrid Aerial-Ground Robot with Two Actuated-wheel-rotors