Cataglyphis: An autonomous sample return rover

Gu, Yu; Ohi, Nicholas; Lassak, Kyle; Strader, Jared; Kogan, Lisa; Hypes, Alexander; Harper, Scott; Hu, Boyi; Gramlich, Matthew; Kavi, Rahul; Watson, Ryan M.; Cheng, Hung-Ming; Gross, Jason N.

doi:10.1002/rob.21737

Cited by 12 publications

(8 citation statements)

References 77 publications

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“…Gu et al [45,46] described the Cataglyphis robot, which the authors entered the NASA Sample Return Robot (SRR) Challenge. This entry was the only robot to complete the realworld stage in 5 years and out of more than 50 entries.…”

Section: Field Studiesmentioning

confidence: 99%

Swarm Foraging Review: Closing the Gap Between Proof and Practice

et al. 2020

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Purpose of Review We review recent research on swarm robot foraging and contextualize it with foundational work. Recent work can be divided into two complementary camps: self-organizing algorithms that provide practical gains and analytical research focus on theoretical proofs. Recent Findings Encouragingly, the convergence between theory and practice is evident in analytical work on the scaling of transportation networks and in behavioral grammars that give formal insight into emergent properties of foraging. Augmented reality has enabled virtual pheromones to be used with hardware, blurring the line between physical and simulation experiments. Summary In this review we highlight bio-inspired and self-organizing approaches to swarm foraging and contrast them with approaches that can provide theoretical proofs, but which abstract away important features from foraging in real-world environments.

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Section: Field Studiesmentioning

confidence: 99%

Swarm Foraging Review: Closing the Gap Between Proof and Practice

et al. 2020

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“…Dengan banyak titik acuan jalan (multi waypoint), maka transisi antara titik jalan (waypoint) dapat digunakan ketika robot meninggalkan rumah atau titik awal (home/start) atau return trip pulang ke rumah dari mana saja di lapangan untuk menyederhanakan perencanaan jalur secara real-time, seperti Catagylphis, yaitu robot pada penelitian Yu Gu, dan kawan-kawan (Gu, Y, dkk, 2018 Dengan input berupa titik jalan (waypoint) yang dimasukkan oleh operator, membuat robot tidak bisa menjalankan tugasnya jika input tersebut tidak diberikan. Selain itu, walaupun pergerakannya autonomous, namun sistem keseluruhan tidak bisa dikatakan autonomous karena tetap menunggu perintah dari operator.…”

Section: Elkomika -205unclassified

Implementasi Automatic Waypoint untuk Return Trip pada Autonomous Robot dengan Titik Acuan Potensi Korban Bencana

et al. 2020

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ABSTRAK Langkah utama dan mendasar yang diperlukan untuk navigasi pada robot secara autonomous pada medan yang tak beraturan dan tidak diketahui keadaannya secara dinamis, setidaknya adalah identifikasi koordinat titik jalan (waypoint), tindakan yang harus dilakukan di titik jalan, identifikasi dimensi kerja, dan hambatan yang diketahui. Penelitian ini bertujuan untuk mengimplementasikan titik jalan otomatis (automatic waypoint) pada robot pencari potensi keberadaan korban pasca bencana, dilengkapi dengan kemampuan robot untuk navigasi dari titik awal berjalan mencari potensi keberadaan korban sebagai titik acuan hingga kembali ke titik awal (return trip) secara autonomous. Metode yang digunakan pada perancangan sistem merupakan pengembangan dari metode waypoint menjadi automatic waypoint untuk navigasi secara autonomous. Hasil yang didapat, robot mampu mendeteksi keberadaan korban maksimal dalam radius 3 meter di dalam simulasi reruntuhan. Ketercapaian rata-rata akurasi pembacaan posisi robot terhadap korban dan titik awal sebesar 6,76 meter. Kata kunci: robot, autonomous, automatic waypoint, korban, return trip. ABSTRACT There are necessary steps required for a robot to navigate autonomously on an unknown and uncertain environment. Those steps consist of the identification of the waypoint coordinates, the actions to be conducted, the identification of the environment’s dimension, and the known obstacles. This study aims to implement an automatic waypoint on a robot for searching the potential existence of post-disaster victims. The robot is equipped with the ability to navigate from the starting point to search for potential victims and then return to the starting point autonomously. We modified the existing waypoint method into an automatic waypoint for autonomous navigation. Results show that the robot is able to detect the presence of the victim within the maximum radius of 3 meters in the simulation of rubble (tables, chairs, wood and iron poles). The accuracy of robot in reading the position of the victim and the starting point is 6,76 meters. Keywords: robot, autonomous, automatical waypoint, victims, return trip.

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“…Camera systems have been more thoroughly researched than LiDAR based systems for this application. LiDAR based systems are presented in [4] and [5]. In [5], an UAV is identified using a 2D LiDAR sensor.…”

Section: Related Workmentioning

confidence: 99%

“…This work uses the reflectivity measurement from the scanner to determine the UAV orientation. In [4], a 2D scanner is used to provide a homing reference by detecting three equally-spaced vertical bars. The direct depth measurement provided by the scanner allows easy calculation of the robot position.…”

Section: Related Workmentioning

confidence: 99%

“…However, the use of LiDAR would allow operation of the system in all lighting conditions and eliminate the image processing necessary for depth inference. This is shown in [4], where a 2D Hokuyo LiDAR sensor is used to provide a homing reference to an autonomous sample return rover, and [5], where a custom 3D LiDAR scanning system is used to localize an unmanned aerial vehicle.…”

Section: Introductionmentioning

confidence: 99%

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Reflective Fiducials for Localization With 3D Light Detection and Ranging Scanners

2019

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Fiducial markers are commonly used to localize robots. Most existing systems use standard cameras to detect simple patterns on flat tags. Since depth is not directly sensed, the pose must be inferred from the tag geometry. These systems are low-cost and easy to implement on robotic systems, but their performances suffer in low-light conditions and on computationally constrained processors. We propose using 3D light detection and ranging (LiDAR) scanners to mitigate these issues. The reflectivity measurement provided by most LiDAR sensors provides a simple way to discern geometric differences on surfaces. We utilize this fact to create a custom ''beacon'' with reflective fiducials. Next, we design a high-performance segmentation and localization algorithm to find the 2D pose of a mobile robot. Our experiments proved that our system achieves an average euclidean error of less than 0.063 m at ranges of over 10 m while maintaining a runtime of under 3 ms on a basic single board computer. Additionally, our system is highly occlusion resistant. These results are confirmed with multiple field tests of the system.

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Cataglyphis: An autonomous sample return rover

Cited by 12 publications

References 77 publications

Swarm Foraging Review: Closing the Gap Between Proof and Practice

Swarm Foraging Review: Closing the Gap Between Proof and Practice

Implementasi Automatic Waypoint untuk Return Trip pada Autonomous Robot dengan Titik Acuan Potensi Korban Bencana

Reflective Fiducials for Localization With 3D Light Detection and Ranging Scanners

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