A Decentralized Interactive Architecture for Aerial and Ground Mobile Robots Cooperation
This addresses the challenge of efficient and safe robot cooperation in inspection tasks, but it appears incremental as it builds on existing human-robot interaction and multi-robot systems.
The paper tackles the problem of coordinating aerial and ground robots for area inspection by proposing a decentralized interactive architecture, where the aerial robot provides global coverage and follows the ground robot, while a human-in-the-loop guides the ground robot for safe navigation.
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.