Rooftop residential solar panel installations have become increasingly popular, yet they require infrequent but essential maintenance to avoid efficiency loss of up to 30% and permanent damage. This maintenance currently requires OSHA trained technicians to climb and perform dangerous and time-consuming cleaning. Our capstone explores the use of a flying robotic system to conduct autonomous, contact-based cleaning of residential solar panels, extended from existing hardware and software provided by the High Performing Robotics (HiPeR) Lab. We aim to reduce cost, effort, dangers, and increase accessibility associated with cleaning residential solar panel systems.