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

TL;DR

MiniUGV$_2$ is a compact, UAV-deployable tracked ground vehicle with manipulation capabilities, designed for exploring confined environments and overcoming deployment challenges through innovative tethering and sensing technologies.

Contribution

The paper introduces miniUGV$_2$, a novel hybrid aerial-ground robot with dual arms, advanced sensing, and a magnetic tether system, enabling deployment, navigation, and manipulation in constrained spaces.

Findings

Successfully navigates complex terrains

Performs object manipulation up to 3.5 kg

Demonstrates robust deployment and retrieval

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.