Task Planning For Robotic Excavation

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Authors

• Sanjiv Singh
• Reid G. Simmons

Keywords

• Soil
• Orbital robotics
• Robot sensing systems
• Robotics and automation
• Constraint optimization
• Space technology
• Earth
• Humans
• State-space methods
• Space exploration
• Dimensional Space
• Cost Function
• State Space
• Geometric Constraints
• Operational Space
• Nuclear Waste
• Digging
• Soil Volume
• Angle Of Approach
• Constraint Forces
• Cost Criteria
• Soil Shear Strength
• Heuristic
• Objective Function
• Gradient Descent
• Soil Properties
• Points In Space
• Workspace
• Simulated Annealing
• Ground Surface
• Types Of Constraints
• Surface Shear
• Local Extrema
• Entire Task
• Soil Units
• End-effector
• Gradient Descent Method
• Amount Of Soil
• Torque Limits
• Internal Friction Angle