  Hybrid Flying-Crawling Quadrotors (HyFCQs) are transformable robots with the
ability of terrestrial and aerial hybrid motion. This article presents a
trajectory planning and tracking framework designed for HyFCQs. In this
framework, a terrestrial-aerial path-searching method with the crawling
limitation of HyFCQs is proposed to guarantee the dynamical feasibility of
trajectories. Additionally, a trajectory tracking method is proposed to address
the challenges associated with the deformation time required by HyFCQs, which
makes tracking hybrid trajectories at the junction between terrestrial and
aerial segments difficult. Simulations and real-world experiments in diverse
scenarios validate the exceptional performance of the proposed approach.
