  Hybrid ground and aerial vehicles can possess distinct advantages over
ground-only or flight-only designs in terms of energy savings and increased
mobility. In this work we outline our unified framework for controls, planning,
and autonomy of hybrid ground/air vehicles. Our contribution is three-fold: 1)
We develop a control scheme for the control of passive two-wheeled hybrid
ground/aerial vehicles. 2) We present a unified planner for both rolling and
flying by leveraging differential flatness mappings. 3) We conduct experiments
leveraging mapping and global planning for hybrid mobility in unknown
environments, showing that hybrid mobility uses up to five times less energy
than flying only.
