The purpose of this project is the development of a multi-agent system capable of performing aerial and ground inspections. The possibility of having two vehicles inspecting from two different areas, one from the ground the other from above, guarantees a more accurate inspection in places that are not easily accessible to humans, for example, limited spaces or too high areas. Another advantage is the dynamic inspection which, compared to fixed cameras, allows the elimination of the dark areas of the latter. The types of inspection for which this system has been designed are search and rescue and industrial inspection. During search and rescue operations, for example, it is important to minimize the potential dangers that can endanger both the life of the research groups and the people to be rescued (unstable soils or free electric cables).