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| Auteurs principaux: | , , , |
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| Format: | Preprint |
| Publié: |
2026
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| Sujets: | |
| Accès en ligne: | https://arxiv.org/abs/2603.00972 |
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| _version_ | 1866915825790746624 |
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| author | Pushp, Durgakant Kalhapure, Swapnil Shithil, Shaekh Mohammad Liu, Lantao |
| author_facet | Pushp, Durgakant Kalhapure, Swapnil Shithil, Shaekh Mohammad Liu, Lantao |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_00972 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | MiniUGV$_2$: A Compact UAV-Deployable Tracked Ground Vehicle with Manipulation Capabilities Pushp, Durgakant Kalhapure, Swapnil Shithil, Shaekh Mohammad Liu, Lantao Robotics 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. |
| title | MiniUGV$_2$: A Compact UAV-Deployable Tracked Ground Vehicle with Manipulation Capabilities |
| topic | Robotics |
| url | https://arxiv.org/abs/2603.00972 |