Autonomous Dozer Sand Grading Under Localization Uncertainties

Miron, Yakov; Goldfracht, Yuval; Ross, Chana; Castro, Dotan Di; Klein, Itzik

doi:10.1109/lra.2022.3222990

Cited by 2 publications

(1 citation statement)

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“…In the context of earthworks, autonomous surface grading of uneven sites with multiple sand piles is explored through a decision process geared at reducing uncertainties [14]. However, the resulting form of the pushed sand piles at the edge of the graded surface is irrelevant to autonomous grading processes and presents the core of this study.…”

Section: A Autonomous Shaping Of Aggregatesmentioning

confidence: 99%

Aggregate-Forming Planner for Autonomous Earth-Moving

Shaked,

Bar-Sinai,

Meles-Braverman

et al. 2023

IEEE Access

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Research in advanced construction and autonomous earthworks begins to explore the shaping of aggregates for construction, military, and environmental purposes. However, there is currently no existing work on moving aggregates to form specific shapes on a surface. This action can aid in gathering aggregates for on-site construction of re-configurable formations, performing architectural tasks, or piling material reservoirs for concrete production. To support aggregate-forming, an autonomous agent is required to move non-labeled aggregates from multiple locations to numerous proximate target points in a predefined desired shape. In this process, the agent needs to push the aggregates, handle material spills, and update both the material location and the outcome formation. The paper presents a planner for autonomous aggregate shaping to support this task. The path generation is first demonstrated in a simulation environment and then validated in an in-lab experimental setup. The results show that employing the planner can assist in advancing the manipulation of aggregates beyond pushing and grading and toward the on-site shaping of aggregates into desired forms.INDEX TERMS Advanced construction, autonomous earthworks, path planning, robotics and automation.

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Section: A Autonomous Shaping Of Aggregatesmentioning

confidence: 99%