LAUSR

This paper presents a working prototype of a quad-rotor with control surfaces positioned in the propulsive slipstreams. The control surfaces provide a unique potential to redirect the airflow from the propulsion systems and produce lateral forces at a level attitude. This approach to locomotion has many useful applications in different areas of aerial sensing. Furthermore, the mechanical approach of using control surfaces for this purpose is unique, as far as the authors knowledge extends; until this point, most aerial robot designs that have this locomotion capability make use of more, or more highly-actuated, propulsion systems in order to exert lateral forces. The use of control surfaces in a propeller slipstream poses a potentially useful contribution to aerial vehicle designs in the future which may incorporate control surfaces in these ways. The paper investigates lateral forces from redirected slipstreams as part of a larger development of the Multi-Section (MIST) Unmanned Aerial Vehicle at the University of Minnesota. The paper concludes with numerous experiments on a testbed and a working prototype that demonstrate the feasibility and characterize the force-production capability.