Abstract ASAF is a multiple agent robotic system where Unmanned Aerial Vehicles (UAV) and Ground Vehicles (UGV) agents perform coordinated tasks. Our research group built this system based on Multiple Unmanned Autonomous Vehicle Experimental Testbed (MAUVET), an in-house platform that we have introduced as well. The challenge in the development of a mobile robotic system is that performance in real time deployment differs from the original plan. This case is clearer when planning the traversal path of an agent, where error happens because of mechanical and environmental factors. The aim of this paper is to investigate the agent traversal execution via system experimentation and computer simulation. The outcome of this investigation is understanding this behavior under different sets of circumstances and finding some optimization factors.

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