Increasing the autonomy of nuclear robots is one of the key factors to improve decommissioning performance and reduce the dependency of the remotely controlled system by the human operator. This is due to the complex manipulation capabilities that require the robot to interact with objects and environment forcefully by pushing, cutting, shearing, grinding in addition to easier pick-and-place tasks. However, due to the unstructured nature of the environment in which the robotic manipulator is operating, enhancing the situational awareness of the robot is one of the key factors to ensure the success of the assigned task. In this project, we address the above-mentioned problem through the cooperation of one or more custom build UAV, equipped with vision and LiDAR sensors and one or more dual arm hydraulically actuated manipulators, installed on a mobile platform. We draw upon the concepts of the networked control system to coordinate the operation of the manipulator and UAV using the full nonlinear dynamic of both systems. Thanks to the laser and vision tools installed on the UAV, the system is capable to charactrise and navigate through the environment and share the produced map with the manipulator to plan and execute the trajectories designed for the end-effector.