DOIAbstract
A recent trend towards greater automation of earthmoving machines, such as backhoes, loaders, and dozers, reflects a larger movement in the construction industry to improve productivity, efficiency and safety. This document reviews related work in various disciplines drawn upon by researchers — soil mechanics, computer graphics, kinematic and dynamical modeling, optimization, control and decision theory. A taxonomy is suggested into which various automated systems reported in the literature, can be classified
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