{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T16:58:10Z","timestamp":1754153890414,"version":"3.41.2"},"reference-count":0,"publisher":"ECMS","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,6,24]]},"abstract":"<jats:p>This paper presents a real-life implementation of a coverage path planning strategy using an Unmanned Ground Vehicle (UGV) and an Unmanned Aerial Vehicle (UAV). The system plans exploration paths for both robots using a wavefront algorithm, accounting for the UGV\u2019s restricted access and the UAV\u2019s limited battery. A hot swapping subroutine allows the UAV to land on the UGV for a manual battery change, enabling continuous exploration. The exploration of a 6.3 \u00d7 6.3-meter room took a total of 8.03 minutes, requiring a single battery change after 5.12 minutes of exploration. The UGV took 6.20 minutes, while the UAV needed 1.43 minutes more. Localization is achieved using an indoor localization system with a Kalman filter for the UGV, combining the raw data with local odometry. The unfiltered position of the UAV introduces noise and errors in the estimation that are compensated by the PID controller. Simulations and real-world experiments validate the system, demonstrating the feasibility of heterogeneous robot cooperation.<\/jats:p>","DOI":"10.7148\/2025-0685","type":"proceedings-article","created":{"date-parts":[[2025,7,23]],"date-time":"2025-07-23T16:59:10Z","timestamp":1753289950000},"page":"685-690","source":"Crossref","is-referenced-by-count":0,"title":["Cooperative Multi-Modal Robots  For Autonomous Coverage Path Planning"],"prefix":"10.7148","author":[{"given":"Lluis","family":"Prior Sancho","sequence":"first","affiliation":[]},{"given":"Fabio","family":"Augusto de Alcantara Andrade","sequence":"additional","affiliation":[]}],"member":"4144","published-online":{"date-parts":[[2025,6,24]]},"event":{"name":"39th ECMS International Conference on Modelling and Simulation"},"container-title":["ECMS 2025 Proceedings edited by Marco Scarpa, Salvatore Cavalieri, Salvatore Serrano, Fabrizio De Vita"],"original-title":[],"deposited":{"date-parts":[[2025,7,23]],"date-time":"2025-07-23T16:59:14Z","timestamp":1753289954000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.scs-europe.net\/dlib\/2025\/2025-0685.html"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,6,24]]},"references-count":0,"URL":"https:\/\/doi.org\/10.7148\/2025-0685","relation":{},"subject":[],"published":{"date-parts":[[2025,6,24]]}}}