. .. ,

. .. Etage-de-l'ensil-ensci, , p.95

. .. Expérimentationsexpérimentationsà-l'eth-de-zurich, , p.96

. .. Environnements-de-développement,

, Gestion de la visibilité partielle de l'environnement

. .. Evaluation-de-la-cartographie-coopérative, 108 4.3.1. Impact des paramètres de la mesure, p.108

, Evaluation de la mise en correspondance des cartes, p.116

. .. Localisationàlocalisationà-partir-de-la-carte-fusionnée,

. .. Discussion, Parallel Algorithms for Labelled Graph Matching, 1998.

A. Tapus-;-adriana-tapus and ;. Almasi, Cerebrovascular network registration via an efficient attributed graph matching technique, Medical Image Analysis, vol.46, pp.118-129, 2005.

[. Atanasov, A Unifying View of Geometry, Semantics, and Data Association in SLAM, International Joint Conference on Artificial Intelligence (IJCAI), 2018.

S. Bazeille and D. Filliat, A Map-Search Framework Based on Attributed Graph Matching. IEEE computer society, Robotics and Automation (ICRA), 2011 IEEE International Conference on, pp.4067-4073, 2010.

P. Bechon-;-bechon and . Beeson, Planification multirobot pour des missions de surveillance avec contraintes de communication, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp.4373-4379, 2005.
URL : https://hal.archives-ouvertes.fr/tel-01434167

, Factoring the Mapping Problem : Mobile Robot Map-building in the Hybrid Spatial Semantic Hierarchy, Proceedings of the 2018 IEEE International Conference on Robotics and Automation, vol.29, pp.428-459, 2010.

H. Blum and . Bonanni, Map2dfusion : Real-time incremental UAV image mosaicing based on monocular SLAM, International Conference on Simulation, Modeling, and Programming for Autonomous Robots, pp.4564-4571, 1967.

[. Cadena, Past, Present, and Future of Simultaneous Localization and Mapping : Toward the Robust-Perception Age, IEEE Transactions on Robotics, vol.32, issue.6, pp.1309-1332, 2016.

. Chaimowicz, L. Kumar-;-chaimowicz, and V. Kumar, Aerial shepherds : Coordination among uavs and swarms of robots, Distributed Autonomous Robotic Systems, vol.6, pp.243-252, 2007.

[. Chapoulie, Topological segmentation of indoors/outdoors sequences of spherical views, Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, pp.4288-4295, 2012.
URL : https://hal.archives-ouvertes.fr/hal-00752909

H. Choset and K. Nagatani, Topological simultaneous localization and mapping (SLAM) : toward exact localization without explicit localization, IEEE Transactions on robotics and automation, vol.17, issue.2, pp.125-137, 2001.
DOI : 10.1109/70.928558

N. Churchill, W. Churchill, and P. Newman, Experiencebased navigation for long-term localisation, The International Journal of Robotics Research, vol.32, issue.14, pp.1645-1661, 2013.
DOI : 10.1177/0278364913499193

R. Drouilly and . Drouilly, Cartographie hybride metrique topologique et semantique pour la navigation dans de grands environnements, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.5109-5114, 2015.
URL : https://hal.archives-ouvertes.fr/tel-01176848

[. Dube, 3d localization, mapping and path planning for search and rescue operations, IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pp.272-273, 2016.
DOI : 10.1109/ssrr.2016.7784311
URL : https://www.research-collection.ethz.ch/bitstream/20.500.11850/127840/1/eth-50472-01.pdf

. Elfes, Air-ground robotic ensembles for cooperative applications : Concepts and preliminary results, 2nd International Conference on Field and service Robotics, pp.75-80, 1999.

[. Fankhauser, , 2016.

, Collaborative navigation for flying and walking robots, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.2859-2866

T. Farazmanesh, D. Farazmanesh, and A. Tavakoli, Morphological Decomposition and Compression of Binary Images via a Minimum Set Cover Algorithm, Journal of Mathematical Imaging and Vision, 2018.

[. Ferrao, An Occupancy Grid Map Merging Algorithm Invariant to Scale, Rotation and Translation, 2017 Brazilian Conference on Intelligent Systems (BRACIS), pp.246-251, 2017.
DOI : 10.1109/bracis.2017.69

[. Forster, Airground localization and map augmentation using monocular dense reconstruction, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.3971-3978, 2013.
DOI : 10.1109/iros.2013.6696924

[. Frietsch, Teaming of an ugv with a vtol-uav in urban environments, Position, Location and Navigation Symposium, pp.1278-1285, 2008.

[. Garzon, An Aerial-Ground Robotic System for Navigation and Obstacle Mapping in Large Outdoor Areas, Sensors (Basel), vol.13, issue.1, pp.1247-1267, 2013.

. [garzon-oviedo, Towards a ground navigation system based in visual feedback provided by a mini UAV, IEEE Intelligent Vehicles Symposium Workshops, 2012.

M. Gerkey, B. Gerkey, and M. Mataric, Sold ! : auction methods for multirobot coordination, IEEE Transactions on Robotics and Automation, vol.18, issue.5, pp.758-768, 2002.

. Graphm, GraphM package : approximate graph matching algorithms, 2009.

[. Grisetti, Improved Techniques for Grid Mapping With Rao-Blackwellized Particle Filters, IEEE Transactions on Robotics, vol.23, issue.1, pp.34-46, 2007.

[. Guastella, A Global Path Planning Strategy for a UGV from Aerial Elevation Maps for Disaster Response, 2017.

[. Guerin, UAV-UGV cooperation for objects transportation in an industrial area, IEEE International Conference on Industrial Technology (ICIT), pp.547-552, 2015.
URL : https://hal.archives-ouvertes.fr/hal-01141993

[. Hackeloeer, Comparison of Point Matching Techniques for Road Network Matching. International archives of the photogrammetry remote sensing and spatial information sciences, XL-2W1, pp.87-92, 2013.

[. Harik, A decentralized interactive architecture for aerial and ground mobile robots cooperation, ICCAR, pp.37-43, 2015.
URL : https://hal.archives-ouvertes.fr/hal-01145928

D. R. Heffley-;-heffley, The Quadratic Assignment Problem : A Note, Econometrica, vol.40, issue.6, p.1155, 1972.

N. Ho, K. L. Ho, and P. Newman, Loop closure detection in SLAM by combining visual and spatial appearance, Robotics and Autonomous Systems, vol.54, issue.9, pp.740-749, 2006.

B. Huang, W. H. Huang, and K. R. Beevers, Topological Map Merging, The International Journal of Robotics Research, vol.24, issue.8, pp.601-613, 2005.
DOI : 10.1007/978-4-431-35873-2_10

, IEEE Standard for Robot Map Data Representation for Navigation, 2015.

D. Delmerico and . Scaramuzza, , 2017.

, Active Autonomous Aerial Exploration for Ground Robot Path Planning, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

D. James and M. , Stupid robot tricks : a behavior-based distributed algorithm library for programming swarms of robots, 2005.

[. Kaess, iSAM : Incremental Smoothing and Mapping, IEEE Transactions on Robotics, vol.24, issue.6, pp.1365-1378, 2008.
DOI : 10.1109/tro.2008.2006706
URL : http://www.cc.gatech.edu/~kaess/pub/Kaess08tro.pdf

K. Kegl, B. Kegl, and A. Krzyzak, Piecewise linear skeletonization using principal curves, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.24, issue.1, pp.59-74, 2002.
DOI : 10.1109/icpr.2000.903502

S. Kloder and S. Hutchinson, Path planning for permutation-invariant multirobot formations, IEEE Transactions on Robotics, vol.22, issue.4, pp.650-665, 2006.
DOI : 10.1109/tro.2006.878952

[. Korrapati, H. Mezouar-;-korrapati, and Y. Mezouar, Vision-based sparse topological mapping, Robotics and Autonomous Systems, vol.62, issue.9, pp.1259-1270, 2014.
DOI : 10.1016/j.robot.2014.03.015
URL : https://hal.archives-ouvertes.fr/hal-02099928

H. W. Kuhn, The hungarian method for the assignment problem, Naval Research Logistics Quarterly, vol.2, pp.83-97, 1955.

B. J. Kuipers, Modeling Spatial Knowledge, 1978.

B. J. Kuipers, A Robot Exploration and Mapping Strategy Based on a Semantic Hierarchy of Spatial Representations, Journal of Robotics and Autonomous Systems, 1991.

B. J. Kuipers-;-kuipers, Using the Topological Skeleton for Scalable Global Metrical Map-Building, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2004.

;. L. Cantelli and . Cantelli, UAV/UGV cooperation for surveying operations in humanitarian demining, 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2013.

. Labbani-igbida, Haar invariant signatures and spatial recognition using omnidirectional visual information only, Autonomous Robots, vol.30, issue.3, pp.333-349, 2011.
DOI : 10.1007/s10514-011-9222-7
URL : https://hal.archives-ouvertes.fr/hal-00856781

[. Lau, Efficient grid-based spatial representations for robot navigation in dynamic environments, Robotics and Autonomous Systems, vol.61, issue.10, pp.1116-1130, 2013.

D. Leonard, D. Leonard, M. Leordeanu, M. Hebert, and . Li, A spectral technique for correspondence problems using pairwise constraints, Hybrid Path Planning Method in Unmanned Air/Ground Vehicle (UAV/UGV) Cooperative Systems. IEEE Transactions on Vehicular Technology, vol.65, pp.9585-9596, 1991.

[. Lisien, The hierarchical atlas, IEEE Transactions on Robotics, vol.21, issue.3, pp.473-481, 2005.
DOI : 10.1109/tro.2004.837237

[. Lowry, Visual Place Recognition : A Survey, IEEE Transactions on Robotics, vol.32, issue.1, pp.1-19, 2016.
DOI : 10.1109/tro.2015.2496823

F. Lu and E. Milios, Globally consistent range scan alignment for environment mapping, Autonomous robots, vol.4, issue.4, pp.333-349, 1997.

X. C. Luan, A structure-based approach for matching road junctions with different coordinate systems, Proceedings of the Twenty-second ISPRS Congress, 2012.

[. Mahendran, UGV-MAV Collaboration for Augmented 2d Maps, pp.1-6, 2013.

R. Marie-;-marie, Exploration autonome et construction de cartes topologiques referencees vision omnidirectionnelle, 2014.

M. , The Delta-Medial Axis : A robust and linear time algorithm for Euclidian skeleton computation, IEEE International Conference on Image Processing (ICIP), pp.3523-3526, 2013.

M. , Visual servoing on the generalized voronoi diagram using an omnidirectional camera, Journal of Intelligent & Robotic Systems, 2018.

[. Mathews, Spatially targeted communication and self-assembly, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.2678-2679, 2012.

[. Merveilleux, Robust free space segmentation using active contours and monocular omnidirectional vision, IEEE International Conference on Image Processing (ICIP), pp.2877-2880, 2011.
URL : https://hal.archives-ouvertes.fr/hal-01198515

W. Milford, M. J. Milford, and G. F. Wyeth, SeqSLAM : Visual route-based navigation for sunny summer days and stormy winter nights, IEEE International Conference on Robotics and Automation (ICRA), pp.1643-1649, 2012.

. [montek and . Singh, Matching structural shape descriptions using genetic algorithms, Pattern Recognition, 1997.

A. I. Mourikis and S. I. Roumeliotis, A multi-state constraint Kalman filter for vision-aided inertial navigation, IEEE international conference on Robotics and automation, (ICRA), pp.3565-3572, 2007.

. Mur-artal, ORB-SLAM : A Versatile and Accurate Monocular SLAM System, IEEE Transactions on Robotics, vol.31, issue.5, pp.1147-1163, 2015.

[. Oleynikova, Voxblox : Incremental 3d euclidean signed distance fields for on-board mav planning, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.

, Multi-Robot Systems : From Swarms to Intelligent Automata, vol.II, 2003.

L. Parker and F. Tang, Building Multirobot Coalitions Through Automated Task Solution Synthesis, Proceedings of the IEEE, vol.94, issue.7, pp.1289-1305, 2006.

L. E. Parker-;-parker, Distributed intelligence : Overview of the field and its application in multi-robot systems, Journal of Physical Agents, vol.2, issue.1, pp.5-14, 2008.

R. Pfaltz, J. L. Pfaltz, and A. Rosenfeld, Computer representation of planar regions by their skeletons, Communications of the ACM, vol.10, issue.2, pp.119-122, 1967.

. Pfingsthorn, M. Birk-;-pfingsthorn, and A. Birk, Representing and solving local and global ambiguities as multimodal and hyperedge constraints in a generalized graph SLAM framework, IEEE International Conference on Robotics and Automation (ICRA), pp.4276-4283, 2014.

A. Ratter and C. Sammut, Local map based graph slam with hierarchical loop closure and optimisation, Australasian Conference on Robotics and Automation, 2015.

[. Renaudeau, Hybrid map mosaicing : A novel approach for large area mapping, 2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), pp.23-28, 2018.

[. Riccio, , 2015.

, Multi Robot Perception and Action : World Modeling and Task Allocation, RSS Workshop on Principle of multirobot systems

[. Roldan, Heterogeneous Multi-Robot System for Mapping Environmental Variables of Greenhouses, Sensors, vol.16, issue.7, p.1018, 2016.

[. Saska, Cooperative micro UAV-UGV autonomous indoor surveillance, International Multi-Conference on Systems, Signals and Devices (SSD), pp.1-6, 2012.

[. Saska, Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups, Journal of Intelligent & Robotic Systems, vol.73, issue.1-4, pp.603-622, 2014.

. Schmuck, Hybrid metric-topological 3d occupancy grid maps for large-scale mapping, IFACPapersOnLine, vol.49, issue.15, pp.230-235, 2016.

K. Sebastian and K. Sebastian, Curves vs skeletons in object recognition, IEEE International Conference on Image Processing (ICIP), 2001.

[. Bosch, Contribution a la modelisation d'environnements par vision monoculaire dans un contexte de robotique aeroterrestre, 2007.
URL : https://hal.archives-ouvertes.fr/tel-00181794

;. Cheeseman and C. Smith, On the Representation and Estimation of Spatial Uncertainty, The International Journal of Robotics Research, 1986.

T. [stephen, A unified Bayesian framework for global localization and SLAM in hybrid metric/topological maps, 2012.

[. Stroupe, Sustainable cooperative robotic technologies for human and robotic outpost infrastructure construction and maintenance, Autonomous Robots, vol.20, issue.2, pp.113-123, 2006.

[. Tao, Incremental construction of the saturated-GVG for multi-hypothesis topological SLAM, 2011.

, IEEE International Conference on Robotics and Automation (ICRA), pp.3072-3077

. Thrun, S. Bucken-;-thrun, and A. Bucken, Learning Maps for Indoor Mobile Robot Navigation, 1996.

A. Tipaldi, G. D. Tipaldi, and K. O. Arras, Flirt-interest regions for 2d range data, IEEE International Conference on Robotics and Automation (ICRA), pp.3616-3622, 2010.

[. Tuci, Cooperation through self-assembly in multi-robot systems, ACM Transactions on Autonomous and Adaptive Systems (TAAS), vol.1, issue.2, pp.115-150, 2006.

. Veloso, M. Stone-;-veloso, and P. Stone, Individual and collaborative behaviors in a team of homogeneous robotic soccer agents, IEEE International Conference on Multi Agent Systems, pp.309-316, 1998.

[. Vidal, Environment modeling for cooperative aerial/ground robotic systems, Robotics research, pp.681-696, 2011.
URL : https://hal.archives-ouvertes.fr/hal-01019660

[. Wang, Simultaneous localization, mapping and moving object tracking, The International Journal of Robotics Research, vol.26, issue.9, pp.889-916, 2007.

[. Zaslavskiy, A Path Following Algorithm for the Graph Matching Problem, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.31, issue.12, pp.2227-2242, 2009.
URL : https://hal.archives-ouvertes.fr/hal-00232851

R. Zlot and A. Stentz, Market-based Multirobot Coordination for Complex Tasks, The International Journal of Robotics Research, vol.25, issue.1, pp.73-101, 2006.