  The article develops an impact-resilient aerial robot (s-ARQ) equipped with a
compliant arm to sense contacts and reduce collision impact and featuring a
real-time contact force estimator and a non-linear motion controller to handle
collisions while performing aggressive maneuvers and stabilize from high-speed
wall collisions. Further, a new collision-inclusive planning method that aims
to prioritize contacts to facilitate aerial robot navigation in cluttered
environments is proposed. A range of simulated and physical experiments
demonstrate key benefits of the robot and the contact-prioritized (CP) planner.
Experimental results show that the compliant robot has only a $4\%$ weight
increase but around $40\%$ impact reduction in drop tests and wall collision
tests. s-ARQ can handle collisions while performing aggressive maneuvers and
stabilize from high-speed wall collisions at $3.0$ m/s with a success rate of
$100\%$. Our proposed compliant robot and contact-prioritized planning method
can accelerate computation time while having shorter trajectory time and larger
clearances compared to A$^\ast$ and RRT$^\ast$ planners with velocity
constraints. Online planning tests in partially-known environments further
demonstrate the preliminary feasibility of our method to apply in practical use
cases.
