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[Submitted on 17 Sep 2026] Title:AeRove: A Compact Bimodal Aerial-Terrestrial Drone with Rapid Bistable Reconfiguration for Close-Range Pipeline Inspection View a PDF of the paper titled AeRove: A Compact Bimodal Aerial-Terrestrial Drone with Rapid Bistable Reconfiguration for Close-Range Pipeline Inspection, by Caleb Polillio and Petras Swissler View PDF HTML (experimental) Abstract:Close-proximity pipeline inspection is challenging for standard drones due to high hovering power consumption, airflow sensitivity, and propeller wash interference with gas sensing. To address this, we present AeRove, a compact bimodal aerial-terrestrial robot. AeRove uses its propeller guards as wheels to roll along pipes and employs a spring-loaded bistable mechanism to reconfigure between ground and flight modes in 200 ms without continuous actuator power to maintain either state. The converging propeller-guard geometry also improves measured thrust efficiency. By reserving flight for obstacle hopping and using ground rolling for continuous traversal, current draw is reduced 14x compared to continuous flight (0.7 A vs. 10 A), extending estimated travel distance from 144 m to 2057 m. Autonomous trials on a 51 cm diameter steel pipe demonstrated navigation on straight and curved sections, obstacle jumping, and leak detection of simulated inspection markers. Separate CO2 sensing experiments evaluated gas-detection performance under perched and aerial operating conditions. Perched inspection produced a substantially larger concentration response than hovering under the tested conditions. During flight, an underbody propeller-intake configuration produced a faster and stronger gas-detection response than an extended probe by leveraging propeller-induced airflow. Code and designs are released under the CC-BY license. Comments: 8 pages, submitted to ICRA 2027 Subjects: Robotics (cs.RO) Cite as: arXiv:2609.20965 [cs.RO] (or arXiv:2609.20965v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2609.20965 arXiv-issued DOI via DataCite (pending registration) Submission history From: Petras Swissler [view email] [v1] Thu, 17 Sep 2026 18:21:29 UTC (10,054 KB) Full-text links: Access Paper: View a PDF of the paper titled AeRove: A Compact Bimodal Aerial-Terrestrial Drone with Rapid Bistable Reconfiguration for Close-Range Pipeline Inspection, by Caleb Polillio and Petras Swissler View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-09 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)