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Autonomous Loading System (ALS)
This project is no longer active.

Heads: John Bares and Anthony (Tony) Stentz
Contact: Anthony (Tony) Stentz (tony+@cmu.edu)

Mailing address:
National Robotics Engineering Center
10 40th Street
Pittsburgh, PA 15201

Associated center: NREC

The ALS project is developing technologies with the intent to improve the productivity and reduce the cost of mass excavation. In a typical mass excavation application, a loading machine digs material from a face and dumps the material in a truck, with a throughput of hundreds of trucks per day. The process is repetitive and continues day and night and in most weather conditions. The type of loading machine and truck can vary, as can the material to be loaded which may range from sand to hard rock. Other issues include maintaining safety of all machines and personnel in the loading area and coordination of multiple machines to achieve a prescribed goal.

Name - Title <Email Address>
• John Bares - Research Professor/Director of NREC <bares@cs.cmu.edu>
• Scott Boehmke - NREC Commercialization Specialist
• [Home] Howard Cannon - Visiting Research Scholar
• Timothy Hegadorn - Research Engineer
• [Home] Alonzo Kelly - Associate Professor <alonzo@ri.cmu.edu>
• Murali Krishna - Postdoctoral Fellow
• Keith Lay - Liasion Officer <nkl+@cmu.edu>
• Patrick (Chris) Leger - Postdoctoral Fellow
• [Home] Robert McCall - Research Programmer
• Richard Moore - Senior Research Engineer/On Leave
• Anthony Nolla - Technician III, RI/ECE
• Jorgen Pedersen - NREC Commercialization Specialist
• Patrick Rowe - NREC Commercialization Specialist
• [Home] Sanjiv Singh - Associate Research Professor <ssingh@ri.cmu.edu>
• [Home] Anthony (Tony) Stentz - Research Professor/Assoc Dir NREC <tony+@cmu.edu>

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• Automated Synthesis and Optimization of Robot Configurations: An Evolutionary Approach
  P. Leger
  doctoral dissertation, tech. report CMU-RI-TR-99-43, Robotics Institute, Carnegie Mellon University, December, 1999. [Abstract]
  Download: pdf [2710 KB], ps.gz [1497 KB] copyrighted

• Incremental Object Recognition Using Range Sensors
  K. Lay
  doctoral dissertation, tech. report CMU-Rl-TR-99-38, Robotics Institute, Carnegie Mellon University, November, 1999. [Abstract]
  Download: pdf [6234 KB] copyrighted

• Optimal Motion Generation for Hydraulic Robots
  M. Krishna
  doctoral dissertation, tech. report CMU-RI-TR-99-30, Robotics Institute, Carnegie Mellon University, September, 1999.
  Download: pdf [314 KB] copyrighted