Towards Autonomous Grading In The Real World

Miron, Yakov; Ross, Chana; Goldfracht, Yuval; Tessler, Chen; Castro, Dotan Di

doi:10.1109/iros47612.2022.9982114

Cited by 2 publications

(1 citation statement)

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“…However, there is a need for planners for earth-moving vehicles that rely on simpler, pushing actions such as bulldozers. This need is discussed in [15], where heuristics and learning strategies guide an agent to solve an earth grading task. In contrast, the presented paper focuses on a classical approach to solving the path planning problem.…”

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%