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This article presents a tightly-coupled air-ground collaborative system designed for autonomous unmanned ground vehicle (UGV) navigation in GPS-denied environments. Key innovations include a stateful ID-based mapping mechanism to prevent data redundancy and an obstacle inflation algorithm that ensures collision-free paths. The system integrates aerial perception, low-latency communication, and ground navigation, demonstrating practical feasibility through physical implementation and validation in cluttered

Author

lemece

Language

EN