## 1 Introduction  
An unmanned ground or aerial system includes a set of subsystems, such as the vehicle or aircraft, payloads, control stations (often additional remote stations), launch and recovery elements for aircrafts, support subsystems, communication subsystems, transportation subsystems, etc. It also must be considered as part of a land or air environment, capable of operating over restricted or extended areas, considering specific rules and regulations. Unmanned systems typically have similar elements to manned vehicle or aircraft systems, but in this case, they are designed for operation without an onboard crew. The crew (as a subsystem), with its interface with vehicle/aircraft controls and position, is replaced with an electronic information and control subsystem. Therefore, a robot is considered a complex, computer-programable system equipped with microprocessors, sensors, actuators, mechanical structures, capable of action, perception, decision making, and communication, able to operate in complex and variable environments. Initially, a remotely piloted vehicle (RPV) was used for unmanned aircraft, but as systems began to incorporate terrestrial or underwater vehicles, other acronyms emerged to clarify reference to aerial vehicle systems. Currently, unmanned aerial vehicle (UAV) is the general term for an aircraft (aerial vehicle) in an unmanned aerial system (UAS) [1,2]. While useful, such systems are generally better suited to being integrated in outdoor surveillance systems. The purpose of this work is to create an architecture using unmanned ground and aerial vehicles for the surveillance of objectives. Designing such a system is challenging due to the continuous monitoring required, raising issues of autonomy as well as the design of navigation, command, and control systems. Supplementarily, our work pertains to usage for the monitoring of large, indoor objectives, such as warehouses, public institutions, stadiums, concert halls, and so on. Combining mobile robots with drones ensures increased system autonomy, lower costs for creation and operation, and easier maintenance over extended periods [3]. Mobile robots and drones can replace human security patrols, reducing costs and eliminating repetitive and monotonous tasks. These systems must possess key features such as autonomy, intelligence, flexibility, scalability, and precision. Their implementation requires meticulous planning, selecting appropriate equipment, and complying with local regulations. Such systems have been discussed in detail in papers such as [4; 5]. This work proposes the development of an autonomous mechatronic system for monitoring strategic objectives, aiming to cut costs and enhance security. It emphasizes the importance of miniaturization, modularity, energy efficiency, and eco-friendly solutions in the design of such systems. Securing strategic objectives is a fundamental concern for modern states [6; 7], with profound implications for economic stability, national security, and citizen protection. These objectives include critical infrastructures such as power plants, transportation networks, military units, and government institutions, all playing essential roles in societal functions. With global interdependence and emerging threats, protecting these resources becomes a strategic priority. Regarding indoor positioning, most papers focus on the development and challenges of autonomous indoor surveillance systems using robots, addressing critical aspects such as navigation, sensing, and cooperative strategies. As such, paper [8] provides an overview of the opportunities and challenges in deploying autonomous robots for indoor surveillance. The paper identifies navigation, real-time decision making, and advanced sensing as key areas requiring innovation. It emphasizes the importance of robust algorithms and sensor technologies to enable robots to operate effectively in dynamic environments. Further, paper [9] describes the design and implementation of an autonomous indoor surveillance robot.