I Introduction
The research interest in unmanned aerial vehicles (UAV) has grown substantially in civilian and military applications, such as inspection of hostile environments, infrastructure maintenance and precision agriculture [1], [2]. In such cases, a UAV is more advantageous than an unmanned ground vehicle (UGV) or a platoon of UGVs, due to its tridimensional mobility. However, their cooperation can be useful in some inspection tasks, such as inspection of large areas [3], [4], [1], landmines location and disarming [5], search and rescue missions [6], entrapment/escorting missions [7], and so on. Considering the specific case of UAV-UGV cooperation, a UAV can use its vertical displacement to get a large view of the horizon or the area under it, while a UGV can observe a specific object in the scene in details, for the possibility of getting close to it [8], [9].