Departmental Papers (MEAM)

Document Type

Journal Article

Subject Area


Date of this Version



Suggested Citation:
Grocholsky, Ben, James Keller, Vijay Kumar and George Pappas. (2006). Cooperative Air and Ground Survaillance. IEEE Robotics & Automation Magazine. Vol. 13(3). p. 16-25.

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Unmanned aerial vehicles (UAVs) can be used to cover large areas searching for targets. However, sensors on UAVs are typically limited in their accuracy of localization of targets on the ground. On the other hand, unmanned ground vehicles (UGVs) can be deployed to accurately locate ground targets, but they have the disadvantage of not being able to move rapidly or see through such obstacles as buildings or fences. In this article, we describe how we can exploit this synergy by creating a seamless network of UAVs and UGVs. The keys to this are our framework and algorithms for search and localization, which are easily scalable to large numbers of UAVs and UGVs and are transparent to the specificity of individual platforms. We describe our experimental testbed, the framework and algorithms, and some results.



Date Posted: 24 August 2010

This document has been peer reviewed.