{"id":"https://openalex.org/W4417530069","doi":"https://doi.org/10.1080/01691864.2025.2599983","title":"Material grade-based task planning for robotic limestone mining","display_name":"Material grade-based task planning for robotic limestone mining","publication_year":2025,"publication_date":"2025-12-20","ids":{"openalex":"https://openalex.org/W4417530069","doi":"https://doi.org/10.1080/01691864.2025.2599983"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2025.2599983","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2025.2599983","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Yuhei Sugano","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yuhei Sugano","raw_affiliation_strings":["Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jierui Li","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jierui Li","raw_affiliation_strings":["Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":null,"display_name":"Kenji Shimada","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kenji Shimada","raw_affiliation_strings":["Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.44474565,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"40","issue":"2","first_page":"63","last_page":"82"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13065","display_name":"Mining Techniques and Economics","score":0.17560000717639923,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T13065","display_name":"Mining Techniques and Economics","score":0.17560000717639923,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12282","display_name":"Mineral Processing and Grinding","score":0.11020000278949738,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13341","display_name":"Belt Conveyor Systems Engineering","score":0.07320000231266022,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5920000076293945},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4332999885082245},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.2946000099182129},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.2815999984741211},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.2671999931335449}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5920000076293945},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4797999858856201},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43560001254081726},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4332999885082245},{"id":"https://openalex.org/C107053488","wikidata":"https://www.wikidata.org/wiki/Q2674423","display_name":"Construction engineering","level":1,"score":0.31290000677108765},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3068999946117401},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.2946000099182129},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.2815999984741211},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.26739999651908875},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2671999931335449},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.25839999318122864},{"id":"https://openalex.org/C2777909354","wikidata":"https://www.wikidata.org/wiki/Q1386523","display_name":"Production planning","level":3,"score":0.2513999938964844},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.25110000371932983}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1080/01691864.2025.2599983","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2025.2599983","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},{"id":"pmh:doi:10.6084/m9.figshare.30928269","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Dataset"}],"best_oa_location":{"id":"pmh:doi:10.6084/m9.figshare.30928269","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Dataset"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W142610968","https://openalex.org/W1641211959","https://openalex.org/W1915211220","https://openalex.org/W1982985273","https://openalex.org/W2014684903","https://openalex.org/W2021061679","https://openalex.org/W2026037988","https://openalex.org/W2082907074","https://openalex.org/W2086251647","https://openalex.org/W2126172766","https://openalex.org/W2141208494","https://openalex.org/W2152042425","https://openalex.org/W2163385431","https://openalex.org/W2163417847","https://openalex.org/W2216838006","https://openalex.org/W2289694223","https://openalex.org/W2552532414","https://openalex.org/W2610199987","https://openalex.org/W2792438551","https://openalex.org/W2793859250","https://openalex.org/W2890670700","https://openalex.org/W2904099025","https://openalex.org/W3015358498","https://openalex.org/W3028820810","https://openalex.org/W3130847935","https://openalex.org/W3187448557","https://openalex.org/W3188004852","https://openalex.org/W3211093687","https://openalex.org/W4200416755","https://openalex.org/W4200523810","https://openalex.org/W4213372157","https://openalex.org/W4220759041","https://openalex.org/W4235838711","https://openalex.org/W4293731930","https://openalex.org/W4313361121","https://openalex.org/W4313855343","https://openalex.org/W4318428510","https://openalex.org/W4318757229","https://openalex.org/W4327643782","https://openalex.org/W4366988467","https://openalex.org/W4386439310","https://openalex.org/W4387773114","https://openalex.org/W4390357691","https://openalex.org/W4390598314","https://openalex.org/W4392692093"],"related_works":[],"abstract_inverted_index":{"This":[0,74],"paper":[1,75],"focuses":[2],"on":[3,87,128],"task":[4,83],"planning":[5,84],"for":[6],"the":[7,25,77,91,105,120,123,129,137,140,151,156,159,162,167,187],"robotization":[8],"of":[9,71,107,122,155,166],"wheel":[10,124],"loaders":[11,29],"in":[12,195],"limestone":[13,72],"mining":[14],"to":[15,103,142,149],"address":[16],"growing":[17],"material":[18,62,109,130,141,152,163],"demands":[19],"and":[20,32,43,51,132],"workforce":[21],"shortages":[22],"by":[23,79],"boosting":[24],"production":[26,45],"rate.":[27],"Wheel":[28],"repeatedly":[30],"scoop":[31],"unload":[33],"raw":[34],"materials":[35],"into":[36,65],"trucks":[37],"at":[38,135],"extraction":[39,106],"sites.":[40],"Sustaining":[41],"consistent":[42],"high":[44,52],"rates":[46],"requires":[47],"effective":[48,176],"grade":[49,63,153,164,183],"management":[50,64],"vehicle":[53,112,138],"operational":[54],"efficiency.":[55],"However,":[56],"existing":[57],"studies":[58],"have":[59],"not":[60],"integrated":[61],"loading":[66,116],"operations,":[67],"a":[68,81,143,174,191],"critical":[69],"aspect":[70],"mining.":[73],"addresses":[76],"limitation":[78],"proposing":[80],"novel":[82],"approach":[85],"based":[86],"agent-centered":[88],"search,":[89],"called":[90],"Best":[92],"First":[93],"Search":[94],"with":[95],"Grade":[96],"Estimation":[97],"(BFSwGE)":[98],"algorithm.":[99],"The":[100],"algorithm":[101,160,189],"aims":[102],"maximize":[104],"high-grade":[108],"while":[110],"minimizing":[111],"travel":[113],"distances":[114],"during":[115],"operations.":[117],"It":[118],"optimizes":[119],"sequence":[121],"loader's":[125],"scooping":[126],"poses":[127,134],"pile":[131,157,168,182],"unloading":[133],"which":[136],"dumps":[139],"truck.":[144],"By":[145],"leveraging":[146],"hyperspectral":[147],"imaging":[148],"assess":[150],"distributions":[154,184],"surface,":[158],"estimates":[161],"distribution":[165],"volume":[169],"using":[170],"Laplace":[171],"Interpolation,":[172],"enabling":[173],"more":[175],"search.":[177],"Simulation":[178],"results":[179],"across":[180],"various":[181],"demonstrate":[185],"that":[186],"proposed":[188],"outperforms":[190],"greedy":[192],"search":[193],"method":[194],"achieving":[196],"these":[197],"objectives.":[198]},"counts_by_year":[],"updated_date":"2026-06-14T06:11:07.267592","created_date":"2025-12-21T00:00:00"}
