  In this paper, we study a cooperative aerial-ground robotic team and its
application to the task of automated construction. We propose a solution for
planning and coordinating the mission of constructing a wall with a predefined
structure for a heterogeneous system consisting of one mobile robot and up to
three unmanned aerial vehicles. The wall consists of bricks of various weights
and sizes, some of which need to be transported using multiple robots
simultaneously. To that end, we use hierarchical task representation to specify
interrelationships between mission subtasks and employ effective scheduling and
coordination mechanism, inspired by Generalized Partial Global Planning. We
evaluate the performance of the method under different optimization criteria
and validate the solution in the realistic Gazebo simulation environment.
