{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/design-and-control-of-a-collision-resilient","title":"Design and control of a collision-resilient aerial vehicle with an icosahedron tensegrity structure","arxiv_id":"2211.12045","date":"2022-11-22","proceeding":null,"authors":["Jiaming Zha","Xiangyu Wu","Ryan Dimick","Mark W. Mueller"],"abstract":"We introduce collision-resilient aerial vehicles with icosahedron tensegrity structures, capable of surviving high-speed impacts and resuming operations post-collision. We present a model-based design approach, which guides the selection of the tensegrity components by predicting structural stresses through a dynamics simulation. Furthermore, we develop an autonomous re-orientation controller that facilitates post-collision flight resumption. The controller enables the vehicles to rotate from an arbitrary orientation on the ground for takeoff. With collision resilience and re-orientation ability, the tensegrity aerial vehicles can operate in cluttered environments without complex collision-avoidance strategies. These capabilities are validated by a test of an experimental vehicle operating autonomously in a previously-unknown forest environment.","url_abs":"https://arxiv.org/abs/2211.12045v2","url_pdf":"https://arxiv.org/pdf/2211.12045v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"design-and-control-of-a-collision-resilient","repo_url":"https://github.com/muellerlab/tensegrityaerialvehicle","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null},{"paper_slug":"design-and-control-of-a-collision-resilient","repo_url":"https://github.com/muellerlab/tensegrityaerialvehiclecollisionsim","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}