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.

翻译：本文提出一种采用二十面体张拉整体结构的碰撞韧性飞行器，该飞行器能够承受高速撞击并在碰撞后恢复运行。我们提出一种基于模型的设计方法，通过动力学仿真预测结构应力，从而指导张拉整体组件的选型。进一步地，我们开发了一种自主重新定向控制器，用于促进碰撞后飞行的恢复。该控制器使飞行器能够从地面任意姿态旋转并起飞。凭借碰撞韧性与重新定向能力，这种张拉整体飞行器可在复杂环境中运行，无需依赖复杂的避撞策略。通过在先前未知的森林环境中对实验飞行器进行自主运行测试，验证了上述能力。