Departmental Papers (MEAM)

Document Type

Conference Paper

Subject Area


Date of this Version

April 2004


Copyright 2004 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation 2004 (ICRA 2004) Volume 4, pages 4053-4058.
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This paper addresses the problem of coordinating aerial and ground vehicles in tasks that involve exploration, identification of targets and maintaining a connected communication network. We focus on the problem of localizing vehicles in urban environments where GPS signals are often unreliable or unavailable. We first describe our multi-robot tesbed and control software used to coordinate ground and aerial vehicles. We present the results of experiments in air-ground localization analyzing three complementary approaches to determining the positions of vehicles on the ground. We show that the coordination of aerial vehicles with ground vehicles is necessary to get accurate estimates of the state of the system.



Date Posted: 19 November 2004

This document has been peer reviewed.