# Autonomous Hybrid Ground/Aerial Mobility in Unknown Environments

arXiv: https://arxiv.org/abs/2009.05631 · HTML: https://mlsanity.com/paper/2009.05631/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 11 Sep 2020.

## Built on by (most cited first, 3 of 3)

- [NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge](https://mlsanity.com/paper/2103.11470/) (2021)
- [OMEGA: Efficient Occlusion-Aware Navigation for Air-Ground Robot in Dynamic Environments via State Space Model](https://mlsanity.com/paper/2408.10618/) (2024)
- [Learning Energy-Efficient Air--Ground Actuation for Hybrid Robots on Stair-Like Terrain](https://mlsanity.com/paper/2603.26687/) (2026)

## Abstract (arXiv)

Hybrid ground and aerial vehicles can possess distinct advantages over ground-only or flight-only designs in terms of energy savings and increased mobility. In this work we outline our unified framework for controls, planning, and autonomy of hybrid ground/air vehicles. Our contribution is three-fold: 1) We develop a control scheme for the control of passive two-wheeled hybrid ground/aerial vehicles. 2) We present a unified planner for both rolling and flying by leveraging differential flatness mappings. 3) We conduct experiments leveraging mapping and global planning for hybrid mobility in unknown environments, showing that hybrid mobility uses up to five times less energy than flying only.