Table 2.

Comparison with other sensing modes.

	Using Aerial Robots	Using Ground Robots	Using the MSADM
Conquer the paralyzed ground traffic	Yes	No	Yes
Collected detailed ground information	Bird’s eye view from the air only.	Detailed	Detailed
Communication path	Ground to air.	Ground to ground. Easily blocked by the obstacles between GCS and robot.	Transform the blocked ground to ground path into two barrier-free ground-air communication paths.
Scalability	--	--	Different ground robots can be quickly integrated in the MSADM.