Imperial College London


Faculty of EngineeringDepartment of Aeronautics

Reader in Aerial Robotics



+44 (0)20 7594 5063m.kovac Website




326City and Guilds BuildingSouth Kensington Campus






BibTex format

@inbook{Floreano and Zufferey and Klaptocz and Germann and Kovac:2016:10.1007/978-3-319-29363-9_2,
author = {Floreano and Zufferey and Klaptocz and Germann and Kovac, M},
booktitle = {Robotics Research},
doi = {10.1007/978-3-319-29363-9_2},
editor = {Christensen and Khatib},
pages = {21--39},
publisher = {Springer},
title = {Aerial locomotion in cluttered environments},
url = {},
year = {2016}

RIS format (EndNote, RefMan)

AB - Many environments where robots are expected to operate are cluttered with objects, walls, debris, and different horizontal and vertical structures. In this chapter, we present four design features that allow small robots to rapidly and safely move in 3 dimensions through cluttered environments: a perceptual system capable of detecting obstacles in the robot’s surroundings, including the ground, with minimal computation, mass, and energy requirements; a flexible and protective framework capable of withstanding collisions and even using collisions to learn about the properties of the surroundings when light is not available; a mechanism for temporarily perching to vertical structures in order to monitor the environment or communicate with other robots before taking off again; and a self-deployment mechanism for getting in the air and perform repetitive jumps or glided flight. We conclude the chapter by suggesting future avenues for integration of multiple features within the same robotic platform.
AU - Floreano
AU - Zufferey
AU - Klaptocz
AU - Germann
AU - Kovac,M
DO - 10.1007/978-3-319-29363-9_2
EP - 39
PB - Springer
PY - 2016///
SP - 21
TI - Aerial locomotion in cluttered environments
T1 - Robotics Research
UR -
UR -
ER -