A Decentralized Interactive Architecture for Aerial and Ground Mobile Robots Cooperation

TL;DR

This paper introduces a decentralized system enabling aerial and ground robots to cooperate effectively during area inspections, with human guidance and continuous aerial support to ensure safety and coverage.

Contribution

It proposes a novel decentralized interactive architecture integrating aerial and ground robots with human-in-the-loop for improved cooperation and safety.

Findings

Effective coverage of inspection area achieved

Continuous aerial support enhances ground robot safety

Human-in-the-loop improves navigation accuracy

Abstract

This paper presents a novel decentralized interactive architecture for aerial and ground mobile robots cooperation. The aerial mobile robot is used to provide a global coverage during an area inspection, while the ground mobile robot is used to provide a local coverage of ground features. We include a human-in-the-loop to provide waypoints for the ground mobile robot to progress safely in the inspected area. The aerial mobile robot follows continuously the ground mobile robot in order to always keep it in its coverage view.