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Heterogeneous robots equipped with multi-modal sensors (e.g., UAV, wheeledand legged terrestrial robots) provide rich and complementary functions thatmay help human operators to accomplish complex tasks in unknown environments.However, seamlessly integrating heterogeneous agents and making them interactand collaborate still arise challenging issues. In this paper, we define a ROS2 based software architecture that allows to build incarnated heterogeneousmulti-agent systems (HMAS) in a generic way. We showcase its effectivenessthrough a scenario integrating aerial drones, quadruped robots, and humanoperators (see https://youtu.be/iOtCCticGuk). In addition, agent spatialawareness in unknown outdoor environments is a critical step for realizingautonomous individual movements, interactions, and collaborations. Throughintensive experimental measurements, RTK-GPS is shown to be a suitable solutionfor achieving the required locating accuracy.

HMAS: enabling seamless collaboration between drones, quadruped robots, and human operators with efficient spatial awareness