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arXiv · 2603.00972

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

Durgakant Pushp·Swapnil Kalhapure·Shaekh Mohammad Shithil·Lantao Liu
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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.

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Durgakant Pushp, Swapnil Kalhapure, Shaekh Mohammad Shithil, Lantao Liu. 2026-03-01. MiniUGV$_2$: A Compact UAV-Deployable Tracked Ground Vehicle with Manipulation Capabilities. https://arxiv.org/abs/2603.00972

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