Some animals exhibit multi-modal locomotion capability to traverse a wide range of terrains and environments, such as amphibians that can swim and walk or birds that can fly and walk. This capability is extremely beneficial for expanding the animal's habitat range and they can choose the most energy efficient mode of locomotion in a given environment. The robotic biomimicry of this multi-modal locomotion capability can be very challenging but offer the same advantages. However, the expanded range of locomotion also increases the complexity of performing localization and path planning. In this work, we present our morphing multi-modal robot, which is capable of ground and aerial locomotion, and the implementation of readily available SLAM and path planning solutions to navigate a complex indoor environment.

翻译：一些动物展现出多模态运动能力，使其能够穿越多样化的地形与环境，例如既能游泳又能行走的两栖动物，以及既可飞行又可行走的鸟类。这种能力对于扩展动物栖息地范围极为有利，且它们能在特定环境中选择最节能的运动模式。仿生机器人对这种多模态运动能力的复现极具挑战性，但同样能带来上述优势。然而，运动范围的扩展也增加了定位与路径规划实现的复杂度。本研究展示了一种具备地面与空中运动能力的变形多模态机器人，并实现了利用现成的SLAM与路径规划方案在复杂室内环境中进行导航。