  Single locomotion robots often struggle to adapt in highly variable or
uncertain environments, especially in emergencies. In this paper, a multi-modal
deformable robot is introduced that can both fly and drive. Compatibility
issues with multi-modal locomotive fusion for this hybrid land-air robot are
solved using proposed design conceptions, including power settings, energy
selection, and designs of deformable structure. The robot can also
automatically transform between land and air modes during 3D planning and
tracking. Meanwhile, we proposed a algorithms for evaluation the performance of
land-air robots. A series of comparisons and experiments were conducted to
demonstrate the robustness and reliability of the proposed structure in complex
field environments.
