TY - GEN
T1 - Field Implementation of an Automated Hydraulic Excavator Using ROS2-TMS for Construction and OPERA
AU - Kouno, Tomoya
AU - Kasahara, Yuichiro
AU - Akinari, Kota
AU - Tsutsumi, Akinosuke
AU - Hachijo, Takayoshi
AU - Kimura, Shunsuke
AU - Fukase, Yutaro
AU - Miyashita, Yuki
AU - Yokoshima, Takashi
AU - Abe, Taro
AU - Endo, Daisuke
AU - Hashimoto, Takeshi
AU - Nagatani, Keiji
AU - Yamauchi, Genki
AU - Kurazume, Ryo
N1 - Publisher Copyright:
© 2026 IEEE.
PY - 2026/1
Y1 - 2026/1
N2 - We are developing a Cyber-Physical System (CPS) for earthwork sites, called ROS2-TMS for Construction, utilizing OPERA, an autonomous construction platform under development by the Public Works Research Institute. In this paper, as a case study of the system's field implementation, we automated the loading of cohesive soil into a hopper during soil improvement work using a hydraulic excavator. Experimental results demonstrated that the system was able to dynamically determine excavation positions and achieve continuous operation for more than one hour. Furthermore, we conducted an additional slope-collapsing experiment using a hydraulic excavator, which demonstrated the applicability of the proposed system to diverse earthwork tasks.
AB - We are developing a Cyber-Physical System (CPS) for earthwork sites, called ROS2-TMS for Construction, utilizing OPERA, an autonomous construction platform under development by the Public Works Research Institute. In this paper, as a case study of the system's field implementation, we automated the loading of cohesive soil into a hopper during soil improvement work using a hydraulic excavator. Experimental results demonstrated that the system was able to dynamically determine excavation positions and achieve continuous operation for more than one hour. Furthermore, we conducted an additional slope-collapsing experiment using a hydraulic excavator, which demonstrated the applicability of the proposed system to diverse earthwork tasks.
UR - https://www.scopus.com/pages/publications/105035766502
UR - https://www.scopus.com/pages/publications/105035766502#tab=citedBy
U2 - 10.1109/SII64115.2026.11404678
DO - 10.1109/SII64115.2026.11404678
M3 - Conference contribution
AN - SCOPUS:105035766502
T3 - 2026 IEEE/SICE International Symposium on System Integration, SII 2026
SP - 1228
EP - 1234
BT - 2026 IEEE/SICE International Symposium on System Integration, SII 2026
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2026 IEEE/SICE International Symposium on System Integration, SII 2026
Y2 - 11 January 2026 through 14 January 2026
ER -