This paper presents a comprehensive framework for mission planning and execution with a heterogeneous multi-robot system, specifically designed to coordinate unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs) in dynamic and unstructured environments. The proposed architecture evaluates the mission requirements, allocates tasks, and optimizes resource usage based on the capabilities of the available robots. It then executes the mission utilizing a decentralized control strategy that enables the robots to adapt to environmental changes and maintain formation stability in both 2D and 3D spaces. The framework's architecture supports loose coupling between its components, enhancing system scalability and maintainability. Key features include a robust task allocation algorithm, and a dynamic formation control mechanism, using a ROS 2 communication protocol that ensures reliable information exchange among robots. The effectiveness of this framework is demonstrated through a case study involving coordinated exploration and data collection tasks, showcasing its ability to manage missions while optimizing robot collaboration. This work advances the field of heterogeneous robotic systems by providing a scalable and adaptable solution for multi-robot coordination in challenging environments.
