HYBRID UAV-UGV COORDINATION FOR POINT-OF-INTEREST LOCALIZATION IN GPS-DENIED ENVIRONMENTS USING STEREO VISION, LIDAR AND GESTURE-BASED SIGNALING

Patricia PREDA, Lucian-Ștefăniță GRIGORE, Eliza MARIN

Abstract


This paper presents a hybrid sensing and coordination framework enabling UAV-UGV teams to identify and localize points of interest in GPS-denied or communication-degraded environments. The approach is designed strictly for defensive and protective applications, where improving situational awareness and reducing human exposure to risk are primary objectives. The system integrates stereo vision, LiDAR-based clustering, and biologically inspired gesture signaling as lightweight, non-intrusive communication layer between aerial and ground platforms. ROS is used only for sensor synchronization and spatial alignment. Mechanical considerations – such as sensor mounting, vibration resilience, and field-of-view geometry – are included to ensure safe operation on uneven terrain. Experimental observations highlight the complementary strengths of stereo and LiDAR perception in supporting responsible, human-centered multi-robot collaboration.


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References


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