Explainable, Safe, Contact-Aware Planning and Control for Heavy Machinery Manipulation and Navigation

Project Information

XSCAVE

Grant agreement ID: 101189836

DOI

10.3030/101189836

EC signature date 4 November 2024

Start date 1 December 2024

End date 30 November 2028

Funded under

• Digital, Industry and Space

Total cost

€ 7 975 530,00

EU contribution

€ 7 975 530,00

Coordinated by

TARTU ULIKOOL
Estonia

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Deliverables

Documents, reports (2)

Data and ethics management plan

The deliverable pertains to developing a detailed plan to consider the ethical aspects of the project, especially with regards to the use of AI. It will also cover a systematic plan to manage different types of data generated within the project

Dissemination and Communication Plan

The report will summarize the strategy that will be adopted in the project for dissemination and communication of the results and achievements.

Other (1)

Visuals and branding materials, Website

This deliverable pertains to creating a website and other branding materials for publicizing the project and its activities in different projects.

Publications

Peer reviewed articles (3)

Physics-informed data-driven modeling of rock motion dynamics in excavation using a high-fidelity simulator

Author(s): Mohammad Heravi, Amirmasoud Molaei, Reza Ghabcheloo
Published in: Simulation Modelling Practice and Theory, Issue 145, 2026, ISSN 1569-190X
Publisher: Elsevier BV
DOI: 10.1016/J.SIMPAT.2025.103208

FORWARD: Dataset of a forwarder operating in rough terrain

Author(s): Mikael Lundbäck, Erik Wallin, Carola Häggström, Mattias Nyström, Andreas Grönlund, Mats Richardson, Petrus Jönsson, William Arnvik, Lucas Hedström, Arvid Fälldin, Martin Servin
Published in: Data in Brief, Issue 66, 2026, ISSN 2352-3409
Publisher: Elsevier BV
DOI: 10.1016/J.DIB.2026.112725

Trajectory Optimization Under Stochastic Dynamics Leveraging Maximum Mean Discrepancy

Author(s): Basant Sharma, Arun Kumar Singh
Published in: IEEE Robotics and Automation Letters, Issue 10, 2025, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2025.3565335

Thesis and dissertations (2)

Reality to Simulation: A Scene Understanding Approach to 3D Log Pile Scene Reconstruction

Author(s): Lundberg, Philiph
Published in: 2025
Publisher: UMU

Simulation of Heavy Vehicle Traversal on Deformable Terrain

Author(s): Edvin, Hortlund
Publisher: UMU

Conference proceedings (5)

Manipulate-To-Navigate: Reinforcement Learning with Visual Affordances and Manipulability Priors

Author(s): Yuying Zhang, Joni Pajarinen
Published in: 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
Publisher: IEEE
DOI: 10.1109/IROS60139.2025.11247222

Manual, Semi or Fully Autonomous Flipper Control? A Framework for Fair Comparison

Author(s): Valentýn Číhala, Martin Pecka, Tomáš Svoboda, Karel Zimmermann
Published in: 2025 IEEE International Conference on Robotics and Automation (ICRA), 2025
Publisher: IEEE
DOI: 10.1109/ICRA55743.2025.11128663

Minimally Conservative Controlled-Invariant Set Synthesis Using Control Barrier Certificates

Author(s): Naeim Ebrahimi Toulkani, Reza Ghabcheloo
Published in: 2025 IEEE 64th Conference on Decision and Control (CDC), 2026
Publisher: IEEE
DOI: 10.1109/CDC57313.2025.11312766

Extracting Visual Plans from Unlabeled Videos via Symbolic Guidance

Author(s): Wenyan Yang, Ahmet Tikna, Yi Zhao, Yuying Zhang, Luigi Palopoli, Marco Roveri, Joni Pajarinen
Published in: 2025
Publisher: PMLR

Ground Vehicle Detection Metrics And Terramechanical Characterization Derived From A Distributed Acoustic Sensing System Deployed On An Arctic Ice Road

Author(s): Aaron Meyer, Adrian Doran, Abhishek Bhagat, Meghan Quinn, Keith Wilson, Matthew Kimball, Jennifer Picucci, Wei Huang, Russ Alger
Published in: Proceedings of the 55th Conference of the ISTVS, 2026
Publisher: International Society for Terrain-Vehicle Systems
DOI: 10.56884/ISF3IT7O