A Proposed Architecture for Autonomous Operations in Backhoe Machines

  • Carlos Mastalli
  • Gerardo Fernández-López
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)


In this work is developed an architecture which consists of four main components: perception system, tasks planning, motion planner, and control systems that allow autonomous operations in backhoe machines. In the first part is described the architecture of control system. A set of techniques for collision mapping of the scene is described and implemented. Moreover, a motion planning system based on Learning from Demonstration using Dynamic Movement Primitives as control policy is proposed, which allows backhoe machines to perform operations in autonomous manner. A statement of reasons is presented, wherein we justified the implementation of such motion system versus planners like \(\text {A}^*\), Probabilistic RoadMap (PRM), Rapidly-exploring Random Tree (RRT), etc. In addition, we present the performance of the architecture in a simulation environment.


Autonomous backhoe machine Learning from demonstration  Dynamic movement primitives Perception system 


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.Istituto Italiano di TecnologiaDepartment of Advanced RoboticsGenoaItaly
  2. 2.Simón Bolívar UniversityMechatronic Research GroupBarutaVenezuela

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