A Decentralized Interactive Architecture for Aerial and Ground Mobile Robots Cooperation

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.
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El Houssein Chouaib Harik, François Guérin, Frédéric Guinand, Jean-François Brethé, Hervé Pelvillain. A Decentralized Interactive Architecture for Aerial and Ground Mobile Robots Cooperation. ICCAR 2015. 2015 IEEE International Conference on Control, Automation and Robotics, May 2015, Singapour, Singapore. pp.37-43, ⟨10.1109/ICCAR.2015.7165998⟩. ⟨hal-01145928⟩

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