PMC

Gas measurement relative values according to each combination of flight path: spiral + Low wind (sL), spiral and High wind (sH), zigzag and Low wind (zL) and zigzag and High wind (zH).

Experimental setup: Experimental site where the experiments were carried out; Flight scheme and patterns (zigzag and spiral); Flight tests for testing the sensors and communication with the base station; Sensors calibration for setting a threshold for the measurements.

(A) observations from 2009, (B, C) observations from 2010. Dances of each worker were numerous; directions and distances indicated were unanimous for all dancers in each bivouac. Each color represents dances and flight of a single bivouac. Each concentric ring represents either 3 s of dancing (zigzag lines)–waggle runs only for dances of >3 s duration, complete circuits for dances of <3 s–or 30 m of flight (straight lines). Most flights exceeded 150 m and disappeared from view, as indicated by broken lines. At periphery are identification numbers of bivouacs. N  =  maximum number of workers simultaneously dancing within 30 min before flight.

Zigzag racetrack in Gazebo to evaluate our proposed DeepPilot architecture and compared against PoseNet []. The track spans over a surface of , with 11m. of space in between gates. We evaluated: (1) PoseNet trained to predict the 4 flight commands ; (2) PoseNet trained to predict only ; (3) DeepPilot trained to predict the 4 flight commands. We used a mosaic image composed of 6 frames as image input to the networks.