A Taxonomy on Contact-Aware Multi-Rotors for Interaction Tasks

The cutting-edge contact-aware ability of aerial plat-forms has opened new frontiers in aerial robotics, enabling applications beyond traditional contact-free operations. Performing in-contact tasks and smoothly transitioning between navigation and interaction phases introduce significant challenges, especially in complex scenarios. This paper focuses on multi-rotors designed for physical interaction tasks, reviewing the most used aerial platforms, interaction tools, and control methodologies tailored for contact-aware applications. Special attention is given to the contact detection phase, which bridges the gap between contact-free and in-contact operational phases, ensuring precise and safe engagement with the target,