  In this work, we present an end-to-end heterogeneous multi-robot system
framework where ground robots are able to localize, plan, and navigate in a
semantic map created in real time by a high-altitude quadrotor. The ground
robots choose and deconflict their targets independently, without any external
intervention. Moreover, they perform cross-view localization by matching their
local maps with the overhead map using semantics. The communication backbone is
opportunistic and distributed, allowing the entire system to operate with no
external infrastructure aside from GPS for the quadrotor. We extensively tested
our system by performing different missions on top of our framework over
multiple experiments in different environments. Our ground robots travelled
over 6 km autonomously with minimal intervention in the real world and over 96
km in simulation without interventions.
