This paper presents the design of the Interacting-BoomCopter (I-BoomCopter) unmanned aerial vehicle (UAV) for mounting a remote sensor package on a vertical surface. Critical to the design is the novel, custom, light-weight passive end-effector. The end-effector has a forward-facing sonar sensor and in-line force sensor to enable autonomous sensor mounting tasks. The I-BoomCopter’s front boom is equipped with a horizontally-mounted propeller which can provide forward and reverse thrust with zero roll and pitch angles. The design and modeling of the updated I-BoomCopter platform is presented along with prototype flight test results. A teleoperated wireless camera sensor mounting task examines the updated platform’s suitability for mounting remote sensor packages.

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