Robotic mobility remains a major challenge in planetary exploration, particularly in environments characterized by uncertain terrain interaction, low gravity, and irregular contact conditions. Conventional wheeled and gait-based locomotion strategies typically rely on predefined contact patterns and motion-centric control formulations, which can become fragile in highly unstructured extraterrestrial environments such as lava tubes, crater walls, and granular slopes. This perspective proposes a support-centric interpretation of locomotion in which mobility is viewed as the continuous generation, redistribution, and adaptation of support under uncertain interaction conditions. Rather than treating contact as a secondary constraint within trajectory execution, the proposed framework interprets locomotion through the evolution of support configurations, support quality, and contact reliability. The paper synthesizes developments in terramechanics, adaptive legged locomotion, bio-inspired robotics, and learning-based control to establish conceptual links between contact interaction and support evolution. A conceptual framework for learning support dynamics is further introduced to outline possible directions for adaptive multi-contact locomotion in space robotics. The proposed perspective is intended not as a replacement for existing locomotion methods, but as a higher-level framework for guiding future research in robust terrain-adaptive robotic mobility.
E. Prisăcariu, Oana Dumitrescu· Robotics· 0 citations
The rapid expansion of Unmanned Aerial Vehicle (UAV) applications in both civilian and military sectors has intensified the demand for propulsion systems capable of delivering higher speed, increased endurance, and improved payload capacity. While battery-electric propulsion remains dominant for small UAV platforms, its limited energy density restricts operational range and mission flexibility. As a result, micro gas engines have emerged as a viable alternative for applications requiring high power-to-weight ratios and sustained high-speed operation. This review examines the fundamentals, scaling effects, and classification of micro gas turbine propulsion systems used in UAV applications, with emphasis on micro turbojets and related hybrid configurations. The paper discusses the thermodynamic principles governing micro gas engines and analyzes the aerodynamic, thermal, and combustion challenges associated with miniaturization, including low Reynolds number effects, tip leakage losses, thermal management limitations, and combustion instability. Furthermore, the study reviews the operational characteristics and mission suitability of different propulsion architectures for reconnaissance UAVs, high-speed UAVs, including reconnaissance and loitering platforms, target drones, and hybrid-electric aerial platforms. Recent developments involving additive manufacturing, advanced control systems, recuperated cycles, and hybrid-electric integration are also evaluated as enabling technologies for next-generation UAV propulsion. The findings demonstrate that although micro gas turbines continue to face important efficiency and manufacturing challenges at reduced scales, they remain essential for mission profiles that exceed the capabilities of purely electric propulsion systems.
E. Prisăcariu, Raluca Andreea Roșu, Oana Dumitrescu et al.· Drones· 1 citation
Unmanned aerial vehicles (UAVs) increasingly demand higher flight speeds, longer endurance, improved payload capacity, and greater operational flexibility across a wide range of applications. While battery-electric propulsion systems dominate small UAV platforms, their limited energy density significantly constrains range and mission duration. Consequently, turbine-based propulsion systems, including micro turbojets, turboprops, turboshafts, and hybrid-electric gas turbine architectures, are attracting growing attention as alternatives for advanced UAV operations. Unlike previous reviews that primarily focus on propulsion technologies or individual subsystem performance, this review provides an integrated assessment of the multidisciplinary challenges associated with turbine-powered UAVs, encompassing thermal, structural, aerodynamic, acoustic, operational, and stealth considerations within a unified framework. The presented synthesis identifies current knowledge gaps and emerging research directions, providing a comprehensive reference for the design and development of next-generation turbine-powered unmanned aerial platforms.
Raluca Andreea Roșu, E. Prisăcariu, Oana Dumitrescu· Technologies· 0 citations
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