Excavation plans are crucial in construction projects, dictating the dirt disposal strategy and excavation sequence based on the final geometry and machinery available. While most construction processes rely heavily on coarse sequence planning and local execution planning driven by human expertise and intuition, fully automated planning tools are notably absent from the industry. This paper introduces a fully autonomous excavation planning system. Initially, the site is mapped, followed by user selection of the desired excavation geometry. The system then invokes a global planner to determine the sequence of poses for the excavator, ensuring complete site coverage. For each pose, a local excavation planner decides how to move the soil around the machine, and a digging planner subsequently dictates the sequence of digging trajectories to complete a patch. We showcased our system by autonomously excavating the largest pit documented so far, achieving an average digging cycle time of roughly 30 seconds, comparable to the one of a human operator.

翻译：挖掘计划在建筑项目中至关重要，它根据最终几何形状和可用机械确定土方处置策略和挖掘顺序。尽管大多数施工过程严重依赖人类专业知识和直觉驱动的粗略序列规划及局部执行规划，但全自动化规划工具在行业中明显缺失。本文介绍了一种完全自主的挖掘规划系统。首先，对场地进行测绘，随后用户选择所需的挖掘几何形状。系统接着调用全局规划器，确定挖掘机的位姿序列，确保完全覆盖场地。针对每个位姿，局部挖掘规划器决定如何移动机械周围的土壤，而挖掘规划器则进一步决定挖掘轨迹的顺序，以完成一个区块。通过自主挖掘迄今为止记录的最深基坑，我们展示了该系统，平均挖掘周期时间约为30秒，与人类操作员相当。