  This paper presents a novel decentralized interactive architecture for aerial
and ground mobile robots cooperation. The aerial mobile robot is used to
provide a global coverage during an area inspection, while the ground mobile
robot is used to provide a local coverage of ground features. We include a
human-in-the-loop to provide waypoints for the ground mobile robot to progress
safely in the inspected area. The aerial mobile robot follows continuously the
ground mobile robot in order to always keep it in its coverage view.
