Controlling a formation of a MARV in backward movements with an UAV for inspection tasks**This work was supported by CNPq-Brazil and FAPES-ES, Brazil

This work aims to show an application in inspection tasks in which an unmanned aerial vehicle (UAV) navigates while in a formation with a multi-articulated robotic vehicle (MARV), this last one executing backward movements. This application illustrates a situation in which the MARV needs a top view of the environment, in order to avoid contact with any obstacle or a risky situation for the load, which in this case is the trailer or trailers being pushed (the MARV corresponds to a tractor pushing one or two trailers). Besides taking care of the control of the MARV-UAV formation, the proposed system also controls the backward movement of the MARV to avoid jackknifing, the shock between the trailers or between the trailer and the tractor, while the multi articulated robot follows the path. Successful experiments show navigation with the multi articulated robot pushing one and two trailers. An inspection task demonstration shows the ability of the UAV to detect obstacles for the MARV, since the ground vehicle does not have sensors to accomplish that.