Now showing items 1-4 of 4
Mobile LiDAR-Based Convergence Detection in Underground Tunnel Environments
This paper presents a mobile LiDAR-based method for remotely identifying convergence (i.e., naturally occurring deformation) in excavated underground tunnel environments. A mobile LiDAR system is used to collect and generate ...
Towards Controlling Bucket Fill Factor in Robotic Excavation by Learning Admittance Control Setpoints
This paper investigates the extension of an admittance control scheme to- ward learning and adaptation of its setpoints to achieve controllable bucket fill factor for robotic excavation of fragmented rock. A previously ...
Industrial-Scale Autonomous Wheeled-Vehicle Path Following by Combining Iterative Learning Control with Feedback Linearization
Abstract— This paper presents a path following method for autonomous wheeled vehicles that combines iterative learning control (ILC) with nonlinear feedback linearization (FBL) to provide anticipatory control action ...
This chapter presents an overview of the state of the art in mining robotics, from surface to underground applications, and beyond. Mining is the practice of extracting resources for utilitarian purposes. Today, the ...