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About this paper
Zhehan Li, Rui Mao, Nanhe Chen, Chao Xu, Fei Gao, Yanjun Cao
ColAG schedules UAV support for perception-limited ground robots. UGVs plan through unknown areas while tracking pose uncertainty from wheel odometry and relative-pose measurements; the UAV supplies map updates and localization support through time-window routing. In a five-UGV simulation, removing time windows raised average waiting from 4.86 to 18.29 seconds. A three-UGV real-world test succeeded, but does not establish general safety.
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