{"id":"https://openalex.org/W3175313230","doi":"https://doi.org/10.1126/scirobotics.abc3164","title":"An autonomous excavator system for material loading tasks","display_name":"An autonomous excavator system for material loading tasks","publication_year":2021,"publication_date":"2021-06-23","ids":{"openalex":"https://openalex.org/W3175313230","doi":"https://doi.org/10.1126/scirobotics.abc3164","mag":"3175313230","pmid":"https://pubmed.ncbi.nlm.nih.gov/34193561"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.abc3164","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.abc3164","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101843626","display_name":"Liangjun Zhang","orcid":"https://orcid.org/0000-0001-5737-2540"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Liangjun Zhang","raw_affiliation_strings":["Baidu USA, Sunnyvale, CA 94089, USA"],"affiliations":[{"raw_affiliation_string":"Baidu USA, Sunnyvale, CA 94089, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042995527","display_name":"Jinxin Zhao","orcid":"https://orcid.org/0000-0001-7126-0190"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jinxin Zhao","raw_affiliation_strings":["Baidu USA, Sunnyvale, CA 94089, USA"],"affiliations":[{"raw_affiliation_string":"Baidu USA, Sunnyvale, CA 94089, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016889301","display_name":"Pinxin Long","orcid":"https://orcid.org/0000-0001-8440-3218"},"institutions":[{"id":"https://openalex.org/I98301712","display_name":"Baidu (China)","ror":"https://ror.org/03vs3wt56","country_code":"CN","type":"company","lineage":["https://openalex.org/I98301712"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pinxin Long","raw_affiliation_strings":["Baidu Research Institute, Beijing 100085, China"],"affiliations":[{"raw_affiliation_string":"Baidu Research Institute, Beijing 100085, China","institution_ids":["https://openalex.org/I98301712"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100749346","display_name":"Liyang Wang","orcid":"https://orcid.org/0000-0003-1454-4618"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liyang Wang","raw_affiliation_strings":["Baidu USA, Sunnyvale, CA 94089, USA"],"affiliations":[{"raw_affiliation_string":"Baidu USA, Sunnyvale, CA 94089, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045117843","display_name":"Lingfeng Qian","orcid":"https://orcid.org/0000-0002-8455-6713"},"institutions":[{"id":"https://openalex.org/I98301712","display_name":"Baidu (China)","ror":"https://ror.org/03vs3wt56","country_code":"CN","type":"company","lineage":["https://openalex.org/I98301712"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lingfeng Qian","raw_affiliation_strings":["Baidu Research Institute, Beijing 100085, China"],"affiliations":[{"raw_affiliation_string":"Baidu Research Institute, Beijing 100085, China","institution_ids":["https://openalex.org/I98301712"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001835218","display_name":"Feixiang Lu","orcid":"https://orcid.org/0000-0003-3952-4402"},"institutions":[{"id":"https://openalex.org/I98301712","display_name":"Baidu (China)","ror":"https://ror.org/03vs3wt56","country_code":"CN","type":"company","lineage":["https://openalex.org/I98301712"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feixiang Lu","raw_affiliation_strings":["Baidu Research Institute, Beijing 100085, China"],"affiliations":[{"raw_affiliation_string":"Baidu Research Institute, Beijing 100085, China","institution_ids":["https://openalex.org/I98301712"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030165903","display_name":"Xibin Song","orcid":"https://orcid.org/0000-0001-7019-6238"},"institutions":[{"id":"https://openalex.org/I98301712","display_name":"Baidu (China)","ror":"https://ror.org/03vs3wt56","country_code":"CN","type":"company","lineage":["https://openalex.org/I98301712"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xibin Song","raw_affiliation_strings":["Baidu Research Institute, Beijing 100085, China"],"affiliations":[{"raw_affiliation_string":"Baidu Research Institute, Beijing 100085, China","institution_ids":["https://openalex.org/I98301712"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004194238","display_name":"Dinesh Manocha","orcid":"https://orcid.org/0000-0001-7047-9801"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dinesh Manocha","raw_affiliation_strings":["University of Maryland, College Park, MD 20742, USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland, College Park, MD 20742, USA","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5101843626"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":12.0712,"has_fulltext":false,"cited_by_count":123,"citation_normalized_percentile":{"value":0.99139409,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"6","issue":"55","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9901999831199646,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9901999831199646,"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/T13344","display_name":"Industrial Automation and Control Systems","score":0.9894000291824341,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9810000061988831,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/excavator","display_name":"Excavator","score":0.953790545463562},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4919271469116211},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.35468822717666626},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25182396173477173},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.17470484972000122}],"concepts":[{"id":"https://openalex.org/C141392084","wikidata":"https://www.wikidata.org/wiki/Q182661","display_name":"Excavator","level":2,"score":0.953790545463562},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4919271469116211},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.35468822717666626},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25182396173477173},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.17470484972000122}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1126/scirobotics.abc3164","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.abc3164","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},{"id":"pmid:34193561","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34193561","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science robotics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W61873113","https://openalex.org/W1479682106","https://openalex.org/W1967344654","https://openalex.org/W1972373069","https://openalex.org/W1994648061","https://openalex.org/W1996183429","https://openalex.org/W2019965290","https://openalex.org/W2066380996","https://openalex.org/W2141388494","https://openalex.org/W2163417847","https://openalex.org/W2296228853","https://openalex.org/W2403171414","https://openalex.org/W2412782625","https://openalex.org/W2574308850","https://openalex.org/W2728742905","https://openalex.org/W2866634454","https://openalex.org/W2874800706","https://openalex.org/W2963136578","https://openalex.org/W2963150697","https://openalex.org/W2963190516","https://openalex.org/W2963806302","https://openalex.org/W2982890695","https://openalex.org/W3003906237","https://openalex.org/W3015872276","https://openalex.org/W3034278302","https://openalex.org/W3127831513","https://openalex.org/W3205297421","https://openalex.org/W3210991238"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W3003601017","https://openalex.org/W2038528908","https://openalex.org/W2997898942","https://openalex.org/W2901741596","https://openalex.org/W2363098002","https://openalex.org/W2347606691","https://openalex.org/W2391703932","https://openalex.org/W2370050348"],"abstract_inverted_index":{"Excavators":[0],"are":[1,108],"widely":[2],"used":[3],"for":[4,50,170,173,195],"material":[5,51,83,138,144,206],"handling":[6],"applications":[7],"in":[8,17,38,129,180],"unstructured":[9],"environments,":[10],"including":[11,74],"mining":[12],"and":[13,40,60,67,76,84,87,96,107,115,126,133,150,161,176],"construction.":[14],"Operating":[15],"excavators":[16,128],"a":[18],"real-world":[19,171],"environment":[20],"can":[21,36,56,177,192],"be":[22],"challenging":[23,181],"due":[24],"to":[25,137,215],"extreme":[26],"conditions-such":[27],"as":[28],"rock":[29,146],"sliding,":[30],"ground":[31],"collapse,":[32],"or":[33],"excessive":[34],"dust-and":[35],"result":[37],"fatalities":[39],"injuries.":[41],"Here,":[42],"we":[43],"present":[44,93],"an":[45,62,216],"autonomous":[46],"excavator":[47],"system":[48,55,191],"(AES)":[49],"loading":[52,139],"tasks.":[53,152],"Our":[54],"handle":[57],"different":[58,164],"environments":[59],"uses":[61],"architecture":[63,157],"that":[64,100,155],"combines":[65],"perception":[66,72,113],"planning.":[68],"We":[69,91,119,153],"fuse":[70],"multimodal":[71],"sensors,":[73],"LiDAR":[75],"cameras,":[77],"along":[78],"with":[79,104,111],"advanced":[80],"image":[81],"enhancement,":[82],"texture":[85],"classification,":[86],"object":[88],"detection":[89],"algorithms.":[90],"also":[92],"hierarchical":[94],"task":[95],"motion":[97],"planning":[98],"algorithms":[99],"combine":[101],"learning-based":[102],"techniques":[103],"optimization-based":[105],"methods":[106],"tightly":[109],"integrated":[110],"the":[112,116,159,190,203],"modules":[114],"controller":[117],"modules.":[118],"have":[120],"evaluated":[121],"AES":[122,166,183,209],"performance":[123],"on":[124],"compact":[125],"standard":[127],"many":[130],"complex":[131],"indoor":[132],"outdoor":[134],"scenarios":[135],"corresponding":[136],"into":[140],"dump":[141],"trucks,":[142],"waste":[143],"handling,":[145],"capturing,":[147],"pile":[148],"removal,":[149],"trenching":[151],"demonstrate":[154],"our":[156],"improves":[158],"efficiency":[160],"autonomously":[162],"handles":[163],"scenarios.":[165,182],"has":[167],"been":[168],"deployed":[169],"operations":[172],"long":[174],"periods":[175],"operate":[178,194],"robustly":[179],"achieves":[184],"24":[185,196],"hours":[186,197],"per":[187,210],"intervention,":[188],"i.e.,":[189],"continuously":[193],"without":[198],"any":[199],"human":[200,218],"intervention.":[201],"Moreover,":[202],"amount":[204],"of":[205],"handled":[207],"by":[208],"hour":[211],"is":[212],"closely":[213],"equivalent":[214],"experienced":[217],"operator.":[219]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":29},{"year":2024,"cited_by_count":29},{"year":2023,"cited_by_count":32},{"year":2022,"cited_by_count":21},{"year":2021,"cited_by_count":5}],"updated_date":"2026-04-17T18:11:37.981687","created_date":"2025-10-10T00:00:00"}