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However, realizing the collaboration with specific tasks in practice often requires the development of sophisticated mechanisms which are envisioned to exploit distinct benefits of the heterogeneous platforms. Thus, we propose a novel air\u2013ground cooperative framework in this paper for the task of multi-target searching under an unknown urban environment. In particular, a group of unmanned aerial vehicles (UAVs) is employed to operate above the urban area to provide surveillance from a global perspective. Under the guidance of UAVs, multiple teams of unmanned ground vehicles (UGVs) are deployed to conduct the target searching missions. The UAVs\u2019 and UGVs\u2019 searching strategies are devised correspondingly leveraging on their own advantageous features. Finally, an ingenious integration of UAVs\u2019 and UGVs\u2019 searching operations is established by a notion of the upper confidence bound. Simulation results are provided to demonstrate the effectiveness of our approach.<\/jats:p>","DOI":"10.1177\/01423312241239386","type":"journal-article","created":{"date-parts":[[2024,5,10]],"date-time":"2024-05-10T07:50:07Z","timestamp":1715327407000},"page":"369-380","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":6,"title":["Air\u2013ground cooperative multi-target searching under an unknown urban environment"],"prefix":"10.1177","volume":"47","author":[{"given":"Chaochun","family":"Huang","sequence":"first","affiliation":[{"name":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0004-5378","authenticated-orcid":false,"given":"Bin","family":"Du","sequence":"additional","affiliation":[{"name":"College of Automation Engineering, Nanjing University of Aeronautics and 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