{"id":"https://openalex.org/W3107041087","doi":"https://doi.org/10.1109/access.2020.3040246","title":"Automated Excavator Based on Reinforcement Learning and Multibody System Dynamics","display_name":"Automated Excavator Based on Reinforcement Learning and Multibody System Dynamics","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3107041087","doi":"https://doi.org/10.1109/access.2020.3040246","mag":"3107041087"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3040246","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3040246","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09268069.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09268069.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036346348","display_name":"Ilya Kurinov","orcid":"https://orcid.org/0000-0002-1477-3114"},"institutions":[{"id":"https://openalex.org/I63548447","display_name":"Lappeenranta-Lahti University of Technology","ror":"https://ror.org/0208vgz68","country_code":"FI","type":"education","lineage":["https://openalex.org/I63548447"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Ilya Kurinov","raw_affiliation_strings":["Department of Mechanical Engineering, LUT University, Lappeenranta, Finland"],"raw_orcid":"https://orcid.org/0000-0002-1477-3114","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, LUT University, Lappeenranta, Finland","institution_ids":["https://openalex.org/I63548447"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030992887","display_name":"Grzegorz Orzechowski","orcid":"https://orcid.org/0000-0002-3252-1236"},"institutions":[{"id":"https://openalex.org/I63548447","display_name":"Lappeenranta-Lahti University of Technology","ror":"https://ror.org/0208vgz68","country_code":"FI","type":"education","lineage":["https://openalex.org/I63548447"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Grzegorz Orzechowski","raw_affiliation_strings":["Department of Mechanical Engineering, LUT University, Lappeenranta, Finland","Mevea Ltd., Lappeenranta, Finland"],"raw_orcid":"https://orcid.org/0000-0002-3252-1236","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, LUT University, Lappeenranta, Finland","institution_ids":["https://openalex.org/I63548447"]},{"raw_affiliation_string":"Mevea Ltd., Lappeenranta, Finland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060951467","display_name":"Perttu H\u00e4m\u00e4l\u00e4inen","orcid":"https://orcid.org/0000-0001-7764-3459"},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Perttu Hamalainen","raw_affiliation_strings":["Department of Computer Science, Aalto University, Espoo, Finland"],"raw_orcid":"https://orcid.org/0000-0001-7764-3459","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Aalto University, Espoo, Finland","institution_ids":["https://openalex.org/I9927081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015072356","display_name":"Aki Mikkola","orcid":"https://orcid.org/0000-0003-2762-8503"},"institutions":[{"id":"https://openalex.org/I63548447","display_name":"Lappeenranta-Lahti University of Technology","ror":"https://ror.org/0208vgz68","country_code":"FI","type":"education","lineage":["https://openalex.org/I63548447"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Aki Mikkola","raw_affiliation_strings":["Department of Mechanical Engineering, LUT University, Lappeenranta, Finland"],"raw_orcid":"https://orcid.org/0000-0003-2762-8503","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, LUT University, Lappeenranta, Finland","institution_ids":["https://openalex.org/I63548447"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":3.4464,"has_fulltext":true,"cited_by_count":66,"citation_normalized_percentile":{"value":0.92849694,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"8","issue":null,"first_page":"213998","last_page":"214006"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9937999844551086,"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"}},"topics":[{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9937999844551086,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9480000138282776,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10808","display_name":"Electric and Hybrid Vehicle Technologies","score":0.9452000260353088,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/excavator","display_name":"Excavator","score":0.8907443284988403},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8504629731178284},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7234987616539001},{"id":"https://openalex.org/keywords/multibody-system","display_name":"Multibody system","score":0.5788725018501282},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.5654367804527283},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5492345094680786},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.4462679922580719},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4360659122467041},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3778253495693207},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18922331929206848}],"concepts":[{"id":"https://openalex.org/C141392084","wikidata":"https://www.wikidata.org/wiki/Q182661","display_name":"Excavator","level":2,"score":0.8907443284988403},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8504629731178284},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7234987616539001},{"id":"https://openalex.org/C67865112","wikidata":"https://www.wikidata.org/wiki/Q1917564","display_name":"Multibody system","level":2,"score":0.5788725018501282},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.5654367804527283},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5492345094680786},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.4462679922580719},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4360659122467041},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3778253495693207},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18922331929206848},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/access.2020.3040246","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3040246","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09268069.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:zenodo.org:5910322","is_oa":true,"landing_page_url":"https://zenodo.org/record/5910322","pdf_url":"https://zenodo.org/record/5910322","source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"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":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:aaltodoc.aalto.fi:123456789/101449","is_oa":true,"landing_page_url":"https://aaltodoc.aalto.fi/handle/123456789/101449","pdf_url":null,"source":{"id":"https://openalex.org/S4306401663","display_name":"Aaltodoc (Aalto University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9927081","host_organization_name":"Aalto University","host_organization_lineage":["https://openalex.org/I9927081"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"publishedVersion"},{"id":"pmh:oai:doaj.org/article:7734d3f8f8234a199764747f6125eeb5","is_oa":true,"landing_page_url":"https://doaj.org/article/7734d3f8f8234a199764747f6125eeb5","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 213998-214006 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3040246","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3040246","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09268069.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8361549761","display_name":"Real-time simulator-driver design and manufacturing based on flexible systems","funder_award_id":"845600","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3107041087.pdf","grobid_xml":"https://content.openalex.org/works/W3107041087.grobid-xml"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W1003506","https://openalex.org/W611790969","https://openalex.org/W949916808","https://openalex.org/W1514056936","https://openalex.org/W1540365193","https://openalex.org/W1570975970","https://openalex.org/W1779739958","https://openalex.org/W1832605823","https://openalex.org/W1846039755","https://openalex.org/W2066329101","https://openalex.org/W2094052055","https://openalex.org/W2118828963","https://openalex.org/W2403171414","https://openalex.org/W2507904268","https://openalex.org/W2605102758","https://openalex.org/W2736601468","https://openalex.org/W2772223109","https://openalex.org/W2895279298","https://openalex.org/W2897462754","https://openalex.org/W2903456034","https://openalex.org/W2911283634","https://openalex.org/W2924656332","https://openalex.org/W2977447221","https://openalex.org/W2984567007","https://openalex.org/W2991177072","https://openalex.org/W3015872276","https://openalex.org/W3039049957","https://openalex.org/W4252673275","https://openalex.org/W4289422968","https://openalex.org/W6632327575","https://openalex.org/W6638954810","https://openalex.org/W6741002519","https://openalex.org/W6760951303"],"related_works":["https://openalex.org/W3003601017","https://openalex.org/W2038528908","https://openalex.org/W2997898942","https://openalex.org/W2997279469","https://openalex.org/W2901741596","https://openalex.org/W2363098002","https://openalex.org/W2347606691","https://openalex.org/W2466671794","https://openalex.org/W2391703932","https://openalex.org/W2370050348"],"abstract_inverted_index":{"Fully":[0],"autonomous":[1,140],"earth-moving":[2],"heavy":[3,100],"equipment":[4],"able":[5],"to":[6,33,36,80,137,185],"operate":[7],"without":[8],"human":[9],"intervention":[10],"can":[11],"be":[12],"seen":[13],"as":[14],"the":[15,28,31,48,57,65,75,78,107,116,149,155,158,177,187,198,201,207],"primary":[16],"goal":[17],"of":[18,50,55,59,71,77,95,148,157,165],"automated":[19],"earth":[20],"construction.":[21],"To":[22,104],"achieve":[23],"this":[24,105],"objective":[25],"requires":[26],"that":[27],"machines":[29],"have":[30,45],"ability":[32,76],"adapt":[34,82],"autonomously":[35],"complex":[37],"and":[38,83,126,160,200],"changing":[39],"environments.":[40],"Recent":[41],"developments":[42],"in":[43,86],"automation":[44],"focused":[46],"on":[47,176],"application":[49,94],"different":[51],"machine":[52],"learning":[53,61,73,97,112,135],"approaches,":[54],"which":[56],"use":[58],"reinforcement":[60,72,96,111],"algorithms":[62],"is":[63,74,113,179,183],"considered":[64],"most":[66],"promising.":[67],"The":[68,119,142,163,181,203],"key":[69],"advantage":[70],"system":[79,205],"learn,":[81],"work":[84],"independently":[85],"a":[87,123,131,146,167,173,191],"dynamic":[88],"environment.":[89],"This":[90],"article":[91],"investigates":[92],"an":[93,139],"algorithm":[98,136],"for":[99],"mining":[101],"machinery":[102],"automation.":[103],"end,":[106],"training":[108,212],"associated":[109],"with":[110,130,169,197],"done":[114],"using":[115],"multibody":[117,124,143],"approach.":[118],"procedure":[120],"used":[121],"combines":[122],"approach":[125],"proximal":[127],"policy":[128],"optimization":[129],"covariance":[132],"matrix":[133],"adaptation":[134],"simulate":[138],"excavator.":[141],"model":[144],"includes":[145],"representation":[147],"hydraulic":[150],"system,":[151],"multiple":[152],"sensors":[153],"observing":[154],"state":[156],"excavator":[159,182],"deformable":[161],"ground.":[162],"task":[164],"loading":[166],"hopper":[168,188],"soil":[170],"taken":[171],"from":[172],"chosen":[174],"point":[175],"ground":[178,199],"simulated.":[180],"trained":[184],"load":[186],"effectively":[189],"within":[190],"given":[192],"time":[193],"while":[194],"avoiding":[195],"collisions":[196],"hopper.":[202],"proposed":[204],"demonstrates":[206],"desired":[208],"behavior":[209],"after":[210],"short":[211],"times.":[213]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":5}],"updated_date":"2026-06-30T13:55:48.251075","created_date":"2025-10-10T00:00:00"}