Sim, Seunghyeon Kim, Donghyeong Lee, Changhyeon Jung, Jooyeol Park, Jinwoo Yoon, Seongwon Han, Soohee 2025-10-01T10:31:16Z 2025-10-01T10:31:16Z 2025-09-30 2025-10 https://pubs.kist.re.kr/handle/201004/153297 In this letter, we propose modeling and control design of a caged rolling drone, called CAROLLINE, that is capable of both ground and aerial locomotion with simple implementation. Specifically, omnidirectional ground mobility is achieved without additional actuators or devices, which contributes to miniaturization and operational efficiency of CAROLLINE. A mathematical model of CAROLLINE is constructed to design an appropriate controller for holonomic locomotion and to assume a pre-takeoff posture from any initial attitude. The overall control scheme is modularly composed and integrated well with the existing drone system. The proposed rolling on the ground provides 12.6 times higher energy efficiency than conventional flight. Experimental validation was also conducted to demonstrate the actual performance of CAROLLINE. English Institute of Electrical and Electronics Engineers Inc. CAROLLINE: A Caged Rolling Drone With Omnidirectional Ground Mobility and Simple Implementation Article 10.1109/LRA.2025.3608651 1 IEEE Robotics and Automation Letters, v.10, no.10, pp.10974 - 10981 IEEE Robotics and Automation Letters 10 10 10974 10981 N scie scopus 001574206300008 2-s2.0-105015466542 Robotics Robotics Article Drones Motors Energy efficiency Mathematical models Actuators Robots Propellers Vectors Tensors Torque Aerial systems: mechanics and control field robots actuation and joint mechanisms