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In disaster-stricken environments, it's vital to assess the damage quickly,analyse the stability of the environment, and allocate resources to the mostvulnerable areas where victims might be present. These missions are difficultand dangerous to be conducted directly by humans. Using the complementarycapabilities of both the ground and aerial robots, we investigate acollaborative approach of aerial and ground robots to address this problem.With an increased field of view, faster speed, and compact size, the aerialrobot explores the area and creates a 3D feature-based map graph of theenvironment while providing a live video stream to the ground control station.Once the aerial robot finishes the exploration run, the ground control stationprocesses the map and sends it to the ground robot. The ground robot, with itshigher operation time, static stability, payload delivery and tele-conferencecapabilities, can then autonomously navigate to identified high-vulnerabilitylocations. We have conducted experiments using a quadcopter and a hexapod robotin an indoor modelled environment with obstacles and uneven ground.Additionally, we have developed a low-cost drone add-on with value-addedcapabilities, such as victim detection, that can be attached to anoff-the-shelf drone. The system was assessed for cost-effectiveness, energyefficiency, and scalability.

Collaborative Ground-Aerial Multi-Robot System for Disaster Response Missions with a Low-Cost Drone Add-On for Off-the-Shelf Drones