
Open access
Date
2024-11Type
- Journal Article
ETH Bibliography
yes
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Abstract
Excavation plans are essential in construction projects, dictating the dirt disposal strategy
and excavation sequence based on the final geometry and machinery available. While most construction processes rely heavily on coarse sequence planning and local execution planning driven by human expertise and intuition, fully automated planning tools are notably absent from the industry. This article introduces a fully autonomous excavation planning system. Initially, the site is mapped, followed by user selection of the desired excavation geometry. The system then invokes a global planner to determine the sequence of poses for the excavator, ensuring complete site coverage. For each pose, a local excavation planner decides how to move the soil around the machine, and a digging planner subsequently dictates the sequence of digging trajectories to complete a patch. We showcased our system by autonomously excavating the largest pit documented so far, achieving an average digging cycle time of roughly 30 s Show more
Permanent link
https://doi.org/10.3929/ethz-b-000715410Publication status
publishedExternal links
Journal / series
IEEE Transactions on Field RoboticsVolume
Pages / Article No.
Publisher
IEEESubject
Building automation; Construction (buildings); Mobile robotsOrganisational unit
09570 - Hutter, Marco / Hutter, Marco
02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication
Funding
188596 - Perceptive Dynamic Locomotion on Rough Terrain (SNF)
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ETH Bibliography
yes
Altmetrics