IEEE Robotics & Automation Magazine - September 2018 - 100

Start
Finish
Ideal Path
Intermediate
Waypoint
Magnetic Paths

Figure 8. A path planned by Cataglyphis. The coloration of the map indicates the hazard value associated with each grid cell, with
darker colors indicating higher risk. Magnetic paths are shown as green lines. The path indicated by cyan dots is generated by the FM 2
planner, and the final, simplified path for Cataglyphis to follow is a series of waypoints indicated by blue stars. (Background image
©2016 Google Earth.)

(a)

(b)

Figure 9. The two unexpected ways of failing the SRR Challenge. (a) A replication of the scenario Cataglyphis experienced during
the 2016 SRR Challenge, where the camera shadow prevented a hard sample from being detected. (b) A case encountered during
practice, where the precached sample hooked on the bottom bar of the grabber and could not be released by the robot.

ten points. First, it found and returned the precached sample
from 65 m away in just 6 min. Then it searched eight different
ROIs and collected a hard sample from ROI-12, an intermediate sample from ROI-9 on its second visit to the region, and
another intermediate sample from ROI-2 after a long trip
(435 m traveled since the previous homing update).
During the first 80 min, Cataglyphis also made several mistakes. First, it collected a false sample (a yellow leaf) from
ROI-6. Later, it decided to return home for a navigation reset
after visiting, in sequence, ROIs 8, 11, and 5 without finding a
sample. It, however, became slightly lost and had to perform a
100

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september 2018

square update around the homing beacon to recover, which
was the only one needed during the challenge. Cataglyphis
also visited ROI-8 twice but was unable to find an easy sample
there, one which was placed slightly outside of the presumed
ROI. Cataglyphis' footprints (perceived by the onboard localization systems) during the first 80 min of the mission are
shown in Figure 2.
Seeing that Cataglyphis repeatedly favored ROI-8 against
other unexplored regions at farther distances, we decided to
perform a communication update to influence its search strategy. During this procedure, we reduced the importance of



IEEE Robotics & Automation Magazine - September 2018

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2018

Contents
IEEE Robotics & Automation Magazine - September 2018 - Cover1
IEEE Robotics & Automation Magazine - September 2018 - Cover2
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