Constructing common height maps with various entropy-based similarity metrics and utilizing layering method for heterogeneous robot teams

Purpose - Heterogeneous teams consisting of unmanned ground vehicles and unmanned aerial vehicles are being used for different types of missions such as surveillance, tracking and exploration. Exploration missions with heterogeneous robot teams (HeRTs) should acquire a common map for understanding the surroundings better. The purpose of this paper is to provide a unique approach with cooperative use of agents that provides a well-detailed observation over the environment where challenging details and complex structures are involved. Also, this method is suitable for real-time applications and autonomous path planning for exploration.