In this article, we introduce XPLORER, a passive deformable quadrotor optimized for performing contact-rich tasks by utilizing collision-induced deformation. We present a novel external force estimation technique, and advanced planning and control algorithms that exploit the compliant nature of XPLORER's chassis. These algorithms enable three distinct flight behaviors: static-wrench application, where XPLORER can exert desired forces and torque on surfaces for precise manipulation; disturbance rejection, wherein the quadrotor actively mitigates external forces and yaw disturbances to maintain its intended trajectory; and yielding to disturbance, enabling XPLORER to dynamically adapt its position and orientation to evade undesired forces, ensuring stable flight amidst unpredictable environmental factors. Leveraging these behaviors, we develop innovative mission strategies including tactile-traversal, tactile-turning, and collide-to-brake for contact-based exploration of unknown areas, contact-based mapping and swift navigation. Through experimental validation, we demonstrate the effectiveness of these strategies in enabling efficient exploration and rapid navigation in unknown environments, leveraging collisions as a means for feedback and control. This study contributes to the growing field of aerial robotics by showcasing the potential of passive deformable quadrotors for versatile and robust interaction tasks in real-world scenarios.

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