Performance-Based Earthmoving Team Organization Algorithm Enabling Task Completion Under Changing Conditions

In this study, we propose a methodology for automating earthmoving tasks using autonomous excavators and dump trucks, with an aim to enhance adaptability in response to environmental changes. Our methodology involves a general architecture that fosters self-organized swarm behavior among the robots. Furthermore, we present an illustrative algorithm that evaluates the performance of a team of robots and adjusts the team composition based on this performance evaluation. This algorithm was implemented in a simulation test in a dynamic environment. The results demonstrate that our methodology enables the coordination of excavators and dump trucks in environmental changes.