Excavation is one of the primary projects in the construction industry. Introducing various technologies for full automation of the excavation can be a solution to improve sensing and productivity that are the ongoing issues in this area. This paper covers three aspects of effective excavation progress monitoring that include excavation volume estimation, occlusion area detection, and 5D mapping. The excavation volume estimation component enables estimating the bucket volume and ground excavation volume. To achieve mapping of the hidden or occluded ground areas, integration of proprioceptive and exteroceptive sensing data was adopted. Finally, we proposed the idea of 5D mapping that provides the info of the excavated ground in terms of geometric space and material type/properties using a 3D ground map with LiDAR intensity and a ground resistive index. Through experimental validations with a mini excavator, the accuracy of the two different volume estimation methods was compared. Finally, a reconstructed map for occlusion areas and a 5D map were created using the bucket tip’s trajectory and multiple sensory data with convolutional neural network techniques, respectively. The created 5D map would allow for the provision of extended ground information beyond a normal 3D ground map, which is indispensable to progress monitoring and control of autonomous excavation.

This article presents the sensing and safety algorithms for autonomous excavators operating on construction sites. Safety is a key concern for autonomous construction to reduce collisions and machinery damage. Taking this point into consideration, our study deals with LiDAR data processing that allows for object detection, motion tracking/prediction, and track management, as well as safety evaluation in terms of potential collision risk. In the safety algorithm developed in this study, potential collision risks can be evaluated based on information from excavator working areas, predicted states of detected objects, and calculated safety indices. Experiments were performed using a modified mini hydraulic excavator with Velodyne VLP-16 LiDAR. Experimental validations prove that the developed algorithms are capable of tracking objects, predicting their future states, and assessing the degree of collision risks with respect to distance and time. Hence, the proposed algorithms can be applied to diverse autonomous machines for safety enhancement.

During the winter season, snowplowing has a significant effect on road users as it is critical to winter road maintenance and operations. The main goal of this study is to generate optimal routes for snowplowing trucks for efficient road maintenance. In addition to the conventional problem of reducing travel time and distance, this study also incorporates actual operational constraints, such as minimum maintenance standards and driver safety, to improve the overall efficiency of operations. To achieve the objectives, we first implemented the Chinese Postman Problem (CPP) to create Euler circuits from the initial routes and then identified the shortest paths by applying Dijkstra’s algorithm. Then, the Tabu search algorithm was chosen as a metaheuristic algorithm for the optimization process that finds near-optimal solutions by considering operational constraints for snowplow routes. Unsafe turning conditions and minimum maintenance standards were taken into account in the objective function defined for the optimization process. In simulations, the route obtained by our approach was compared to one with the application of CPP only in terms of travel distance, time, turning conditions, and road maintenance priority.