  Our CoBot robots have successfully performed a variety of service tasks in
our multi-building environment including accompanying people to meetings and
delivering objects to offices due to its navigation and localization
capabilities. However, they lack the capability to visually search over desks
and other confined locations for an object of interest. Conversely, an
inexpensive GPS-denied quadcopter platform such as the Parrot ARDrone 2.0 could
perform this object search task if it had access to reasonable localization. In
this paper, we propose the concept of coordination between CoBot and the Parrot
ARDrone 2.0 to perform service-based object search tasks, in which CoBot
localizes and navigates to the general search areas carrying the ARDrone and
the ARDrone searches locally for objects. We propose a vision-based moving
target navigation algorithm that enables the ARDrone to localize with respect
to CoBot, search for objects, and return to the CoBot for future searches. We
demonstrate our algorithm in indoor environments on several search
trajectories.
