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Shaping the Future - A Control Architecture for Autonomous Landscaping with an Excavator
220 Seiten, Dissertation Technische Universität Kaiserslautern (2016), Softcover, A5
The main contribution of this thesis is the modelling of an adaptive control architecture for cyclically executed tasks by means of autonomous landscaping for one of the most common class of construction machines on a construction site - an excavator.
The system is capable of solving complex tasks in an autonomous way, including handling possible disturbances and operation constraints which occur during the operation.