Contact-Based Bridge Inspection Multirotors: Design, Modeling, and Control Considering the Ceiling Effect.

This letter presents the design, modeling, and control of a multirotor for inspection of bridges with full contact. The letter analyzes the aerodynamic ceiling effect when the aerial robot approaches the bridge surface from below, including its aerodynamic characterization using computational fluid dynamics. The proposed multirotor design takes the modeled aerodynamic effects into account, improvi...