Iterative Autonomous Excavation. Maeda, G. J., Rye, D. C., & Singh, S. P. N. In Field and Service Robotics, 2012.
Iterative Autonomous Excavation [link]Paper  abstract   bibtex   
This paper introduces a Cartesian impedance control framework in which reaction forces exceeding control authority directly reshape bucket motion during successive excavation passes. This novel approach to excavation results in an iterative process that does not require explicit prediction of terrain forces. This is in contrast to most excavation control approaches that are based on the generation, tracking and re-planning of single-pass tasks where the performance is limited by the accuracy of the prediction. In this view, a final trench profile is achieved iteratively, provided that the forces generated by the excavator are capable of removing some minimum amount of soil, maintaining convergence towards the goal. Field experiments show that a disturbance compensated controller is able to maintain convergence, and that a 2-DOF feedforward controller based on free motion inverse dynamics may not converge due to limited feedback gains.
@INPROCEEDINGS{fsr2012.excavator,
  author = {Guilherme J. Maeda and David C. Rye and Surya P. N. Singh},
  title = {Iterative Autonomous Excavation},
  booktitle = {Field and Service Robotics},
  year = {2012},
  abstract = {This paper introduces a Cartesian impedance control framework in which
	reaction forces exceeding control authority directly reshape bucket
	motion during successive excavation passes. This novel approach to
	excavation results in an iterative process that does not require
	explicit prediction of terrain forces. This is in contrast to most
	excavation control approaches that are based on the generation, tracking
	and re-planning of single-pass tasks where the performance is limited
	by the accuracy of the prediction. In this view, a final trench profile
	is achieved iteratively, provided that the forces generated by the
	excavator are capable of removing some minimum amount of soil, maintaining
	convergence towards the goal. Field experiments show that a disturbance
	compensated controller is able to maintain convergence, and that
	a 2-DOF feedforward controller based on free motion inverse dynamics
	may not converge due to limited feedback gains.},
  pdf = {gjm_FSR2012.pdf},
  url = {http://www.astro.mech.tohoku.ac.jp/FSR2011/}
}

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