  We introduce collision-resilient aerial vehicles with icosahedron tensegrity
structures, capable of surviving high-speed impacts and resuming operations
post-collision. We present a model-based design approach, which guides the
selection of the tensegrity components by predicting structural stresses
through a dynamics simulation. Furthermore, we develop an autonomous
re-orientation controller that facilitates post-collision flight resumption.
The controller enables the vehicles to rotate from an arbitrary orientation on
the ground for takeoff. With collision resilience and re-orientation ability,
the tensegrity aerial vehicles can operate in cluttered environments without
complex collision-avoidance strategies. These capabilities are validated by a
test of an experimental vehicle operating autonomously in a previously-unknown
forest environment.
