Design, Modeling, and Control of AVOCADO: A Multimodal Aerial-Tethered Robot for Tree Canopy Exploration
Steffen Kirchgeorg,
Emanuele Aucone,
Florian Wenk
et al.
Abstract:Forests provide vital resources and services for humanity, but preserving and restoring them is challenging due to the difficulty of obtaining actionable data, especially in inaccessible areas such as forest canopies. To address this, we follow the lead of arboreal animals that exploit multiple modes of locomotion.We combine aerial and tethered movements to enable AVOCADO to navigate within a tree canopy. Starting from the top of a tree, it can descend with the tether and maneuver around obstacles with thruste… Show more
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