This article aims at collecting and discussing the results reached by the research community regarding the study of the ground effect on small rotorcraft unmanned aerial vehicles, especially from the modeling and control point of view. Rotorcraft performance is affected by the presence of the ground or any other boundary that alters the flow into the rotors. Specifically, the ground effect can induce perturbations in the flight stability, when operating near the ground. For a rotorcraft, an accident is likely to happen when the vehicle leaves or enters the ground effect region, which may cause crashes and property damages. Today, the use of unmanned aerial vehicles has grown widespread, which raises safety concerns when they are flying at very low altitudes and near the ground. Consequently, studying the influence of the ground over rotorcrafts is of paramount importance for general safety. Also, these investigations can be used to design systems of guidance, navigation, and control. In this review, we break down the most relevant works to date. We discuss aspects related to modeling, control, and application of the ground effect for small-scale multirotors, as well as other aerodynamic proximity effects, such as the ceiling and wall effects. We conclude by mentioning potential avenues of research when studying the ground effect from the point of view of the robotics and artificial intelligence fields.

本文旨在收集和讨论研究团体在研究小型旋翼飞机无人飞行器地面效应方面取得的成果，尤其是从建模和控制的角度。旋翼飞行器的性能会受到地面或其他边界的影响，从而改变进入旋翼的流量。具体而言，当在地面附近操作时，地面效应会引起飞行稳定性的干扰。对于旋翼飞机，当车辆离开或进入地面影响区域时很可能会发生事故，这可能导致坠毁和财产损失。如今，无人驾驶飞行器的使用已广泛普及，这在低空飞行并靠近地面飞行时引发了安全隐患。所以，研究地面对旋翼飞机的影响对于总体安全至关重要。同样，这些调查可用于设计制导，导航和控制系统。在这篇评论中，我们细分了迄今为止最相关的作品。我们讨论与小型多旋翼飞机地面效应的建模，控制和应用以及其他空气动力学邻近效应（如天花板和墙体效应）有关的方面。最后，我们从机器人技术和人工智能领域的角度研究地面效应时，提到了潜在的研究途径。我们讨论与小型多旋翼飞机地面效应的建模，控制和应用以及其他空气动力学邻近效应（如天花板和墙体效应）有关的方面。最后，我们从机器人技术和人工智能领域的观点出发，在研究地面效应时提及潜在的研究途径。我们讨论与小型多旋翼飞机地面效应的建模，控制和应用以及其他空气动力学邻近效应（如天花板和墙体效应）有关的方面。最后，我们从机器人技术和人工智能领域的观点出发，在研究地面效应时提及潜在的研究途径。