The State of the Art in Automation of Earthmoving

A recent trend towards greater automation of earthmoving machines, such as backhoes, loaders, and dozers, reflects a larger movement in the construction industry to improve productivity, efficiency and safety. This document reviews related work in various disciplines drawn upon by researchers— soil mechanics, computer graphics, kinematic and dynamical modeling, optimization, control and decision theory. A taxonomy is suggested into which various automated systems reported in the literature, can be classified.

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