MiniUGV$_2$: A Compact UAV-Deployable Tracked Ground Vehicle with Manipulation Capabilities

2026-03-01

AI Summary

This work addresses the challenge of aerial robots’ limited ability to access geometrically constrained, communication-denied, and time-sensitive “hidden spaces” by introducing a small tracked ground robot deployable from a drone. The system integrates a dual-joint manipulator, LiDAR and depth-sensing fusion, and a modular electronic architecture, and features a novel electrified permanent-magnet tethering module that enables safe deployment, retrieval, and on-demand detachment—eliminating entanglement issues common in conventional tethers. Experimental results demonstrate that the platform exhibits robust terrain adaptability, self-righting capability, and can manipulate objects weighing up to 3.5 kg, significantly enhancing the exploration and operational capacity of aerial-ground collaborative systems in confined and complex environments.

Technology Category

• Intelligent Robots: Multimodal Perception & Sensor Fusion
• Planning, Routing, and Scheduling: Optimization of Spatio-temporal Systems
• Natural Language Processing: Language Grounding & Multi-modal NLP

Application Category

• Systems and Infrastructure for Web, Mobile and WoT: Energy management for devices in mobile Web and WoT environments
• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Search and Retrieval-Augmented AI: Vertical and domain-specific search

Abstract

Exploring and inspecting \emph{Hidden Spaces}, defined as environments whose entrances are accessible only to aerial robots but remain unexplored due to geometric constraints, limited flight time, and communication loss, remains a major challenge. We present miniUGV$_2$, a compact UAV-deployable tracked ground vehicle that extends UAV capabilities into confined environments. The system introduces dual articulated arms, integrated LiDAR and depth sensing, and modular electronics for enhanced autonomy. A novel tether module with an electro-permanent magnetic head enables safe deployment, retrieval, and optional detachment, thereby overcoming prior entanglement issues. Experiments demonstrate robust terrain navigation, self-righting, and manipulation of objects up to 3.5 kg, validating miniUGV$_2$ as a versatile platform for hybrid aerial-ground robotics.

Problem

• Hidden Spaces
• UAV-deployable
• confined environments
• aerial-ground robotics
• exploration

Innovation

• UAV-deployable
• tracked ground vehicle
• dual articulated arms
• tether module
• hybrid aerial-ground robotics