Aggregate-Forming Planner for Autonomous Earth-Moving

Research in advanced construction and autonomous earthworks begins to explore the shaping of aggregates for construction, military, and environmental purposes. However, while current work in autonomous earthworks focuses on grading and pushing aggregates, there is limited research on moving aggregates to form specific shapes on a surface. This action can aid in gathering aggregates for on- site construction of re- configurable formations, performing architectural tasks, or piling material reservoirs for concrete production. To support aggregate-forming, an autonomous agent is required to move non-labeled aggregates from multiple locations to numerous proximate target points in a predefined desired shape. In this process, the agent needs to push the aggregates, handle material spills, and update both the material location and the outcome formation. The paper presents a planner for autonomous aggregate shaping to support this task. The path generation is first demonstrated in a simulation environment and validated in an in- lab experimental setup, showing over 90% success rate. The results show that employing the planner can assist in advancing autonomous earthworks toward on- site aggregate-forming.