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

Durgakant Pushp, Swapnil Kalhapure, Shaekh Mohammad Shithil, Lantao Liu

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.

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

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, 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 as a versatile platform for hybrid aerial-ground robotics.
Paper Structure (12 sections, 9 figures, 1 table)

This paper contains 12 sections, 9 figures, 1 table.

Table of Contents

  1. Introduction
  2. System Overview
  3. UAV Autonomy Stack
  4. miniUGV$_2$ Autonomy
  5. Tether Module Control
  6. Hardware System Realization
  7. Secondary Robot (miniUG$V_2$)
  8. Deployment System
  9. Experimental Results
  10. MiniUGV$_2$
  11. Autonomous Deployment of MiniUGV$_2$
  12. Conclusion

Figures (9)

  • Figure 1: Illustration of the UAV-miniUGV system: Left and right images depict the designed miniUG$V_2$, an improved version of the miniUGV pushp2022uav. Center image shows the primary and secondary robots together with a tether module.
  • Figure 2: Proposed system architecture of the UAV-miniUGV platform for collaborative exploration. The UAV is equipped all the entire sensor suite to create a 3D mapping of the environment and find potential deployable zones for the miniUGV. The UAV then autonomously deploy and retrieve the robot using magnetic tether head. The miniUGV has articulated arms for manipulation and navigation in rough terrains. Both robots share their trajectory information via WiFi network and the high level mission command is sent from the Base station.
  • Figure 3: Overview of the tether head position tracking.
  • Figure 4: (a) Assembled miniUG$V_2$, showcasing its features, highlighting its compact size with integrated sensors and gripper mechanism. (b) Shows the designed circuit board with all the electronic components required to operate the miniUG$V_2$.
  • Figure 5: (a) Shows the the tether module design on the left side and the actual prototype (3D printed using the red color PLA material) with the tether control onboard computer on the right side.(b) Shows the magnetic tether head. It is a fully autonomous ROS-enabled module incorporating an ESP32 microcontroller, a LiPo battery for power supply, and a voltage regulator that distributes power to both 5V and 3.3V rails.
  • ...and 4 more figures