Fundamental Analysis of Automatic Excavation

Automatic excavation has recently gained an increasing attention in industries such as construction, mining, and road works because of the need for cost-effectiveness as well as better safety for workers. Also, in remote work applications, like terrestrial sampling and cleaning of hazardous waste, there is a great need for automated excavation. In this paper, first a review and categorization of the previous work on the subject is carried out based on different aspects of the work associated with automating such a process. Then the nature of the excavation process is analyzed and the way it may be controlled is investigated.

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