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Abstract: This thesis describes an approach to synthesizing plans for robotic excavators. Excavation tasks range from loading a pile of soil to cutting a geometrically described volume of earth--- for a trench or foundation footing. The excavation task can be stated in terms familiar to researchers in robotics and artificial intelligence: Transform the world from its current state to another state. Two important characteristics, however, distinguish the excavation domain. First, soil is deformable, and,... (Update)
Context of citations to this paper: More
.... to load trucks as fast as human operators [13] Previously we have proposed a method to automatically plan digging motions for excavators [11], 12] Digging actions are described by a compact set of action parameters and the space spanned by these parameters is searched for an...
.... surface and is, hence, much faster (quadratic instead of cubic) Figure 4 shows how a modified version of this method described in [Singh 95a] could be used to predict settlement of soil after removing a specified volume. While the method assumes instantaneous removal of soil,...
Cited by: More
Robotic Technologies for Outdoor Industrial Vehicles - Stentz (2001) (Correct)
Extended Earthmoving with an Autonomous Excavator - Cannon (1999) (Correct)
A Robotic Excavator for Autonomous Truck Loading - Stentz, Bares, Singh, Rowe (1998) (Correct)
Active bibliography (related documents): More All
19.0: The State of the Art in Automation of Earthmoving - Singh (1997) (Correct)
2.2: First Results In The Autonomous Retrieval Of Buried Objects - Herman, Singh (1994) (Correct)
1.5: Models for Automated Earthmoving - Cannon, Singh (1999) (Correct)
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0.4: Developing Plans for Robotic Excavators - Singh (1994) (Correct)
0.3: The Problem Of Regional "hollowing Out" - In Japan Lessons (Correct)
0.2: Table of Figures - Figure Functional Architecture (Correct)
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4: Control system for automatically controlling a work implement of an earthmoving .. (context) - Rocke - 1994
4: Multi-Resolution Planning for Earthmoving (context) - Singh, Cannon - 1998
3: Development of Auto Digging Controller for Construction Machine by Fuzzy Logic C.. (context) - Sameshima, Tozawa - 1992
BibTeX entry: (Update)
Singh, S., Synthesis of Tactical Plans for Robotic Excavation, Ph.D Thesis, January, 1995, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213. http://citeseer.ist.psu.edu/singh95synthesi.html More
@misc{ singh95synthesis,
author = "S. Singh",
title = "Synthesis of Tactical Plans for Robotic Excavation",
text = "Singh, S., Synthesis of Tactical Plans for Robotic Excavation, Ph.D Thesis,
January, 1995, Robotics Institute, Carnegie Mellon University, Pittsburgh,
PA 15213.",
year = "1995",
url = "citeseer.ist.psu.edu/singh95synthesi.html" }
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The graph only includes citing articles where the year of publication is known.
Documents on the same site (http://www.ri.cmu.edu/people/person_290_pubs.html): More
The State of the Art in Automation of Earthmoving - Singh (1997) (Correct)
Automated Visual Grading of Vegetative Cuttings - Ji, Singh (1996) (Correct)
Developing Plans for Robotic Excavators - Singh (1994) (Correct)
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