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This paper presents a novel decentralized interactive architecture for aerialand ground mobile robots cooperation. The aerial mobile robot is used toprovide a global coverage during an area inspection, while the ground mobilerobot is used to provide a local coverage of ground features. We include ahuman-in-the-loop to provide waypoints for the ground mobile robot to progresssafely in the inspected area. The aerial mobile robot follows continuously theground mobile robot in order to always keep it in its coverage view.

A Decentralized Interactive Architecture for Aerial and Ground Mobile Robots Cooperation