A DDDAMS-based planning and control framework for surveillance and crowd control via UAVs and UGVs.

•An effective and efficient control framework for UAV/UGV coordination is proposed.•Agent-based simulation is used for planning as well as real-time control purposes.•Filtering is used for UGV and UAV for tracking individuals and crowd, respectively.•Motions of UAV/UGV are determined based on minimal distance and energy consumption.•The framework is demonstrated for a hardware-in-the-loop simulation environment.