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For instance, unmanned aerial systems (UASs) give new possibilities that advance the solution of existing problems in this area in many different aspects. The reason is due to these platforms\u2019 ability to perform activities at varying levels of complexity. Therefore, this research presents a multiple-cooperative robot solution for UAS and unmanned ground vehicle (UGV) systems for their joint inspection of olive grove inspect traps. This work evaluated the UAS and UGV vision-based navigation based on a yellow fly trap fixed in the trees to provide visual position data using the You Only Look Once (YOLO) algorithms. The experimental setup evaluated the fuzzy control algorithm applied to the UAS to make it reach the trap efficiently. Experimental tests were conducted in a realistic simulation environment using a robot operating system (ROS) and CoppeliaSim platforms to verify the methodology\u2019s performance, and all tests considered specific real-world environmental conditions. A search and landing algorithm based on augmented reality tag (AR-Tag) visual processing was evaluated to allow for the return and landing of the UAS to the UGV base. The outcomes obtained in this work demonstrate the robustness and feasibility of the multiple-cooperative robot architecture for UGVs and UASs applied in the olive inspection scenario.<\/jats:p>","DOI":"10.3390\/agriculture13020239","type":"journal-article","created":{"date-parts":[[2023,1,19]],"date-time":"2023-01-19T04:19:40Z","timestamp":1674101980000},"page":"239","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":42,"title":["Cooperative Heterogeneous Robots for Autonomous Insects Trap Monitoring System in a Precision Agriculture Scenario"],"prefix":"10.3390","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4100-1494","authenticated-orcid":false,"given":"Guido S.","family":"Berger","sequence":"first","affiliation":[{"name":"Research Centre in Digitalization and Intelligent Robotics (CeDRI), Instituto Polit\u00e9cnico de Bragan\u00e7a, Campus de Santa Apol\u00f3nia, 5300-253 Bragan\u00e7a, Portugal"},{"name":"Laborat\u00f3rio Associado para a Sustentabilidade e Tecnologia em Regi\u00f5es de Montanha (SusTEC), Instituto Polit\u00e9cnico de Bragan\u00e7a, Campus de Santa Apol\u00f3nia, 5300-253 Bragan\u00e7a, Portugal"},{"name":"Engineering Department, School of Sciences and Technology, Universidade de Tr\u00e1s-os-Montes e Alto Douro (UTAD), 5000-801 Vila Real, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0372-312X","authenticated-orcid":false,"given":"Marco","family":"Teixeira","sequence":"additional","affiliation":[{"name":"Coordena\u00e7\u00e3o do Curso de Engenharia de Software, COENS, Universidade Tecnol\u00f3gica Federal do Paran\u00e1\u2014UTFPR, Dois Vizinhos 85660-000, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5930-2140","authenticated-orcid":false,"given":"Alvaro","family":"Cantieri","sequence":"additional","affiliation":[{"name":"Applied Robotics and Computation Laboratory\u2014LaRCA, Federal Institute of Paran\u00e1, Pinhais 3100, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7902-1207","authenticated-orcid":false,"given":"Jos\u00e9","family":"Lima","sequence":"additional","affiliation":[{"name":"Research Centre in Digitalization and Intelligent Robotics (CeDRI), Instituto Polit\u00e9cnico de Bragan\u00e7a, Campus de Santa Apol\u00f3nia, 5300-253 Bragan\u00e7a, Portugal"},{"name":"Laborat\u00f3rio Associado para a Sustentabilidade e Tecnologia em Regi\u00f5es de Montanha (SusTEC), Instituto Polit\u00e9cnico de Bragan\u00e7a, Campus de Santa Apol\u00f3nia, 5300-253 Bragan\u00e7a, Portugal"},{"name":"INESC Technology and Science, 4200-465 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3803-2043","authenticated-orcid":false,"given":"Ana I.","family":"Pereira","sequence":"additional","affiliation":[{"name":"Research Centre in Digitalization and Intelligent Robotics (CeDRI), Instituto Polit\u00e9cnico de Bragan\u00e7a, Campus de Santa Apol\u00f3nia, 5300-253 Bragan\u00e7a, Portugal"},{"name":"Laborat\u00f3rio Associado para a Sustentabilidade e Tecnologia em Regi\u00f5es de Montanha (SusTEC), Instituto Polit\u00e9cnico de Bragan\u00e7a, Campus de Santa Apol\u00f3nia, 5300-253 Bragan\u00e7a, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5798-1298","authenticated-orcid":false,"given":"Ant\u00f3nio","family":"Valente","sequence":"additional","affiliation":[{"name":"Engineering Department, School of Sciences and Technology, Universidade de Tr\u00e1s-os-Montes e Alto Douro (UTAD), 5000-801 Vila Real, Portugal"},{"name":"INESC Technology and Science, 4200-465 Porto, Portugal"}]},{"given":"Gabriel G. R. de","family":"Castro","sequence":"additional","affiliation":[{"name":"Department of Electronics Engineering, Federal Center of Technological Education of Celso Suckow da Fonseca (CEFET\/RJ), Rio de Janeiro 20271-204, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6916-700X","authenticated-orcid":false,"given":"Milena F.","family":"Pinto","sequence":"additional","affiliation":[{"name":"Department of Electronics Engineering, Federal Center of Technological Education of Celso Suckow da Fonseca (CEFET\/RJ), Rio de Janeiro 20271-204, Brazil"}]}],"member":"1968","published-online":{"date-parts":[[2023,1,19]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Mavridou, E., Vrochidou, E., Papakostas, G.A., Pachidis, T., and Kaburlasos, V.G. (2019). Machine vision systems in precision agriculture for crop farming. J. 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