Multimodal Locomotion: Next Generation Aerial-Terrestrial Mobile Robotics

Mobile robots have revolutionized the public and private sectors for transportation, exploration, and search and rescue. Efficient energy consumption and robust environmental interaction needed for complex tasks can be achieved in aerial-terrestrial robots by combining advantages of each locomotion mode. This review surveys over two decades of development in multimodal robots that move on the ground and in air. Multimodality can be achieved by leveraging three main design approaches: adding morphological features, adapting forms for locomotion transitions, and integrating multiple vehicle platforms. Each classification is thoroughly examined and synthesized, encompassing both qualitative and quantitative aspects. The authors delved into the intricacies of these approaches and explored the challenges and opportunities that lie ahead in pursuit of the next generation of mobile robots. This review aims to advance future deployment of multimodal robots in the real world for challenging operations in dangerous, unstructured, contact-prone, cluttered and subterranean environments. Aerial-terrestrial robots can achieve efficient energy consumption and robust environmental interaction by adding morphological features, adapting forms for locomotion transitions, and integrating multiple platforms. This next generation of mobile robots advances real-world robotic deployment for operations with complex tasks and tackle environments that are dangerous, unstructured, contact-prone, cluttered, subterranean, and largely disturbed.image (c) 2023 WILEY-VCH GmbH