IEEE Robotics & Automation Magazine - September 2018 - 98

(a)

(b)

(c)

E
Q

J

H

A

F

K

B
M

A

B

C

D

E

F

G

H

I

J

K

L

M

N

O
(e)

P

Q

R

L

G

N

C

O

D

P

R
I

(d)

Figure 6. The sample detection workflow illustrated with a test image and mock samples. (a) The original image after applying a mask
to define the effective search area. (b) The segmented image prior to noise removal. (c) The segmented image after noise removal.
(d) The classifier outputs marked on the image. The colored circles correspond to sample types: green for nonsamples (A, C, E, F, H, J,
L, O, Q) and the other colors for positive samples (M: precached sample; I, P: other easy samples; B, G, K, R: intermediate samples; D,
N: hard samples). (e) The sample candidates extracted from the segmented image for input into the classifier.

Blue Intensity

250
200
150
100

K (Intermediate Sample)
M (Precached Sample)
C (Nonsample)

50
0
200

200

100
Green Intensity

100
Red Intensity

0 0

Figure 7. The distribution of pixel intensities for some image
candidates in Figure 6.

highest confidence candidate over a preset threshold was designated as the target sample. The target position was then estimated by calculating the intersection points between the
ground plane and the light rays corresponding to the pixels of
98

*

IEEE ROBOTICS & AUTOMATION MAGAZINE

*

september 2018

the target in the image. By actively controlling the robot to
approach the target for collection, the confidence values were
continuously updated using the softmax output and the difference in the expected and measured sample positions in consecutive images. In most cases, false detections were not consistent
over time and vantage points, so the tracking algorithm and the
calculation of confidence values eliminated the majority of false
positives. This significantly reduced the time Cataglyphis spent
chasing false detections during the challenge.
Robot Autonomy
Robot localization, path planning, autonomous traverse,
sample return, and system health management were individually complex problems, and coordinating them to work harmoniously added another level of complexity. Cataglyphis'
autonomy system architecture was structured hierarchically,
and the top level of the hierarchy was planning and decision
making. It decided where the robot should go to search for
samples, how to approach and collect detected samples, and
how to return them home. These high-level behaviors were
made up of sequences of individual robot actions, which
included actions to drive the robot and to manipulate and



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
IEEE Robotics & Automation Magazine - September 2018 - Contents
IEEE Robotics & Automation Magazine - September 2018 - 2
IEEE Robotics & Automation Magazine - September 2018 - 3
IEEE Robotics & Automation Magazine - September 2018 - 4
IEEE Robotics & Automation Magazine - September 2018 - 5
IEEE Robotics & Automation Magazine - September 2018 - 6
IEEE Robotics & Automation Magazine - September 2018 - 7
IEEE Robotics & Automation Magazine - September 2018 - 8
IEEE Robotics & Automation Magazine - September 2018 - 9
IEEE Robotics & Automation Magazine - September 2018 - 10
IEEE Robotics & Automation Magazine - September 2018 - 11
IEEE Robotics & Automation Magazine - September 2018 - 12
IEEE Robotics & Automation Magazine - September 2018 - 13
IEEE Robotics & Automation Magazine - September 2018 - 14
IEEE Robotics & Automation Magazine - September 2018 - 15
IEEE Robotics & Automation Magazine - September 2018 - 16
IEEE Robotics & Automation Magazine - September 2018 - 17
IEEE Robotics & Automation Magazine - September 2018 - 18
IEEE Robotics & Automation Magazine - September 2018 - 19
IEEE Robotics & Automation Magazine - September 2018 - 20
IEEE Robotics & Automation Magazine - September 2018 - 21
IEEE Robotics & Automation Magazine - September 2018 - 22
IEEE Robotics & Automation Magazine - September 2018 - 23
IEEE Robotics & Automation Magazine - September 2018 - 24
IEEE Robotics & Automation Magazine - September 2018 - 25
IEEE Robotics & Automation Magazine - September 2018 - 26
IEEE Robotics & Automation Magazine - September 2018 - 27
IEEE Robotics & Automation Magazine - September 2018 - 28
IEEE Robotics & Automation Magazine - September 2018 - 29
IEEE Robotics & Automation Magazine - September 2018 - 30
IEEE Robotics & Automation Magazine - September 2018 - 31
IEEE Robotics & Automation Magazine - September 2018 - 32
IEEE Robotics & Automation Magazine - September 2018 - 33
IEEE Robotics & Automation Magazine - September 2018 - 34
IEEE Robotics & Automation Magazine - September 2018 - 35
IEEE Robotics & Automation Magazine - September 2018 - 36
IEEE Robotics & Automation Magazine - September 2018 - 37
IEEE Robotics & Automation Magazine - September 2018 - 38
IEEE Robotics & Automation Magazine - September 2018 - 39
IEEE Robotics & Automation Magazine - September 2018 - 40
IEEE Robotics & Automation Magazine - September 2018 - 41
IEEE Robotics & Automation Magazine - September 2018 - 42
IEEE Robotics & Automation Magazine - September 2018 - 43
IEEE Robotics & Automation Magazine - September 2018 - 44
IEEE Robotics & Automation Magazine - September 2018 - 45
IEEE Robotics & Automation Magazine - September 2018 - 46
IEEE Robotics & Automation Magazine - September 2018 - 47
IEEE Robotics & Automation Magazine - September 2018 - 48
IEEE Robotics & Automation Magazine - September 2018 - 49
IEEE Robotics & Automation Magazine - September 2018 - 50
IEEE Robotics & Automation Magazine - September 2018 - 51
IEEE Robotics & Automation Magazine - September 2018 - 52
IEEE Robotics & Automation Magazine - September 2018 - 53
IEEE Robotics & Automation Magazine - September 2018 - 54
IEEE Robotics & Automation Magazine - September 2018 - 55
IEEE Robotics & Automation Magazine - September 2018 - 56
IEEE Robotics & Automation Magazine - September 2018 - 57
IEEE Robotics & Automation Magazine - September 2018 - 58
IEEE Robotics & Automation Magazine - September 2018 - 59
IEEE Robotics & Automation Magazine - September 2018 - 60
IEEE Robotics & Automation Magazine - September 2018 - 61
IEEE Robotics & Automation Magazine - September 2018 - 62
IEEE Robotics & Automation Magazine - September 2018 - 63
IEEE Robotics & Automation Magazine - September 2018 - 64
IEEE Robotics & Automation Magazine - September 2018 - 65
IEEE Robotics & Automation Magazine - September 2018 - 66
IEEE Robotics & Automation Magazine - September 2018 - 67
IEEE Robotics & Automation Magazine - September 2018 - 68
IEEE Robotics & Automation Magazine - September 2018 - 69
IEEE Robotics & Automation Magazine - September 2018 - 70
IEEE Robotics & Automation Magazine - September 2018 - 71
IEEE Robotics & Automation Magazine - September 2018 - 72
IEEE Robotics & Automation Magazine - September 2018 - 73
IEEE Robotics & Automation Magazine - September 2018 - 74
IEEE Robotics & Automation Magazine - September 2018 - 75
IEEE Robotics & Automation Magazine - September 2018 - 76
IEEE Robotics & Automation Magazine - September 2018 - 77
IEEE Robotics & Automation Magazine - September 2018 - 78
IEEE Robotics & Automation Magazine - September 2018 - 79
IEEE Robotics & Automation Magazine - September 2018 - 80
IEEE Robotics & Automation Magazine - September 2018 - 81
IEEE Robotics & Automation Magazine - September 2018 - 82
IEEE Robotics & Automation Magazine - September 2018 - 83
IEEE Robotics & Automation Magazine - September 2018 - 84
IEEE Robotics & Automation Magazine - September 2018 - 85
IEEE Robotics & Automation Magazine - September 2018 - 86
IEEE Robotics & Automation Magazine - September 2018 - 87
IEEE Robotics & Automation Magazine - September 2018 - 88
IEEE Robotics & Automation Magazine - September 2018 - 89
IEEE Robotics & Automation Magazine - September 2018 - 90
IEEE Robotics & Automation Magazine - September 2018 - 91
IEEE Robotics & Automation Magazine - September 2018 - 92
IEEE Robotics & Automation Magazine - September 2018 - 93
IEEE Robotics & Automation Magazine - September 2018 - 94
IEEE Robotics & Automation Magazine - September 2018 - 95
IEEE Robotics & Automation Magazine - September 2018 - 96
IEEE Robotics & Automation Magazine - September 2018 - 97
IEEE Robotics & Automation Magazine - September 2018 - 98
IEEE Robotics & Automation Magazine - September 2018 - 99
IEEE Robotics & Automation Magazine - September 2018 - 100
IEEE Robotics & Automation Magazine - September 2018 - 101
IEEE Robotics & Automation Magazine - September 2018 - 102
IEEE Robotics & Automation Magazine - September 2018 - 103
IEEE Robotics & Automation Magazine - September 2018 - 104
IEEE Robotics & Automation Magazine - September 2018 - 105
IEEE Robotics & Automation Magazine - September 2018 - 106
IEEE Robotics & Automation Magazine - September 2018 - 107
IEEE Robotics & Automation Magazine - September 2018 - 108
IEEE Robotics & Automation Magazine - September 2018 - 109
IEEE Robotics & Automation Magazine - September 2018 - 110
IEEE Robotics & Automation Magazine - September 2018 - 111
IEEE Robotics & Automation Magazine - September 2018 - 112
IEEE Robotics & Automation Magazine - September 2018 - 113
IEEE Robotics & Automation Magazine - September 2018 - 114
IEEE Robotics & Automation Magazine - September 2018 - 115
IEEE Robotics & Automation Magazine - September 2018 - 116
IEEE Robotics & Automation Magazine - September 2018 - Cover3
IEEE Robotics & Automation Magazine - September 2018 - Cover4
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2010
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2010
https://www.nxtbookmedia.com