Date of Award


Document Type

Masters Thesis

Degree Name


Organizational Unit

Daniel Felix Ritchie School of Engineering and Computer Science, Electrical and Computer Engineering

First Advisor

Kimon P. Valavanis

Second Advisor

Matthew Rutherford

Third Advisor

David Gao

Fourth Advisor

Michael Keables


Electrical engineering, Robotics, Robotic design


A hybrid aerial-ground robotic platform allows for enhanced functionality combining most of the operational profiles of an aerial and ground vehicle with applications to intelligence, surveillance, reconnaissance (ISR), infrastructure inspection, emergency response, photography, etc. Motivated by this challenge, we designed, developed, and tested a prototype hybrid aerial-ground robotic vehicle capable of guidance, navigation, and control in the air and on the ground. The thesis focus is on the system design. As such, at first, we designed and analyzed the mechanical component to ensure durability. We then designed the electrical component to reduce overall weight and maximize battery life. We developed and integrated software modules and widely used controllers to allow for teleoperation and autonomous control. A series of tests were run to ensure proper functionality and demonstrate operability. Tests included a controlled functionality test, aerial test, ground test, transition component test from air to ground and ground to air, dual-mode functionality tests, and battery runtime test. Performed tests dictated design revisions that resulted in a fully functional prototype ready to be used by scientists, engineers, practitioners, and end-users.

Publication Statement

Copyright is held by the author. User is responsible for all copyright compliance.

Rights Holder

William Garrett Willmon


Received from ProQuest

File Format




File Size

93 pgs


Electrical engineering