{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,15]],"date-time":"2025-10-15T00:42:23Z","timestamp":1760488943992,"version":"build-2065373602"},"reference-count":44,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2020,4,1]],"date-time":"2020-04-01T00:00:00Z","timestamp":1585699200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100007053","name":"Korea Institute of Energy Technology Evaluation and Planning","doi-asserted-by":"publisher","award":["(No.20191510301470)"],"award-info":[{"award-number":["(No.20191510301470)"]}],"id":[{"id":"10.13039\/501100007053","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>Many solutions about the teleoperation of unmanned robotic excavators have been studied continuously. However, if excavators that are remotely controlled were employed, the probability of an accident would be higher. For this reason, there have been many ways proposed to attempt to reduce accidents in these dangerous situations. In this paper, a novel methodology will be introduced with a focus on the multiple excavators themselves. The proposed method details how one excavator can be generated or expressed as an obstacle in the Configuration-Space (C-space) with respect to another excavator\u2019s side for collision avoidance each other. This method is based on kinematics information which is measurable and given. Therefore, this method can be used or applied independently by using widely used pose sensors and wireless communication devices. The phase of mathematical derivation about obstacle sets is described in detail. The results are shown in accompanying figures and tables for demonstrating that the proposed method detected the proximity and found the collision-free zone accurately. The proposed system can be powerful when applied to a teleoperation system, where it would be particularly useful and helpful to the operator.<\/jats:p>","DOI":"10.3390\/rs12071122","type":"journal-article","created":{"date-parts":[[2020,4,2]],"date-time":"2020-04-02T11:57:14Z","timestamp":1585828634000},"page":"1122","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Creation of One Excavator as an Obstacle in C-Space for Collision Avoidance during Remote Control of the Two Excavators Using Pose Sensors"],"prefix":"10.3390","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9253-2132","authenticated-orcid":false,"given":"Dongik","family":"Sun","sequence":"first","affiliation":[{"name":"Department of Mechatronics Engineering, Hanyang University, 55 Hanyangdaehak-ro, Sangnok-gu, Ansan-si, Gyeonggi-do 15588, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Seunghoon","family":"Hwang","sequence":"additional","affiliation":[{"name":"Department of Mechatronics Engineering, Hanyang University, 55 Hanyangdaehak-ro, Sangnok-gu, Ansan-si, Gyeonggi-do 15588, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2171-1229","authenticated-orcid":false,"given":"Byeol","family":"Kim","sequence":"additional","affiliation":[{"name":"Department of Architectural Engineering, Hanyang University, 55 Hanyangdaehak-ro, Sangnok-gu, Ansan-si, Gyeonggi-do 15588, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yonghan","family":"Ahn","sequence":"additional","affiliation":[{"name":"Department of Architectural Engineering, Hanyang University, 55 Hanyangdaehak-ro, Sangnok-gu, Ansan-si, Gyeonggi-do 15588, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5509-9368","authenticated-orcid":false,"given":"Joosung","family":"Lee","sequence":"additional","affiliation":[{"name":"Innovative Durable Building and Infrastructure Research Center, Hanyang University, 55 Hanyangdaehak-ro, Sangnok-gu, Ansan-si, Gyeonggi-do 15588, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jeakweon","family":"Han","sequence":"additional","affiliation":[{"name":"Department of Robotics, Hanyang University, 55 Hanyangdaehak-ro, Sangnok-gu, Ansan-si, Gyeonggi-do 15588, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2020,4,1]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"194","DOI":"10.1109\/21.214777","article-title":"Real-time collision avoidance in teleoperated whole-sensitive robot arm manipulator","volume":"23","author":"Lumelsky","year":"1993","journal-title":"IEEE Trans. Syst. Man Cybern."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"517","DOI":"10.1109\/21.279000","article-title":"Collision avoidance of two general robot manipulators by minimum delay time","volume":"24","author":"Chang","year":"1994","journal-title":"IEEE Trans. Syst. Man Cybern."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"144","DOI":"10.1177\/027836499701600202","article-title":"On-line manipulation planning for two robot arms in a dynamic environment","volume":"16","author":"Li","year":"1997","journal-title":"Int. J. Robot. Res."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"477","DOI":"10.1002\/rob.1038","article-title":"A real-time dual-arm collision avoidance algorithm for assembly","volume":"18","author":"Lee","year":"2001","journal-title":"J. Robot. Syst."},{"key":"ref_5","unstructured":"Yamamoto, Y., and Fukuda, S. (2002, January 11\u201315). Trajectory planning of multiple mobile manipulators with collision avoidance capability. Proceedings of the 2002 IEEE International Conference on Robotics and Automation, Washington, DC, USA."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"351","DOI":"10.1016\/j.rcim.2004.01.002","article-title":"Collision-free motion planning of dual-arm reconfigurable robots","volume":"20","author":"Fei","year":"2004","journal-title":"Robot. Comput. Manuf."},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Tsai, Y.-C., and Huang, H.-P. (2009, January 10\u201315). Huang, Motion planning of a dual-arm mobile robot in the491configuration-time space. Proceedings of the 2009 IEEE\/RSJ International Conference on Intelligent Robots and Systems; Institute of Electrical and Electronics Engineers (IEEE), St Louis, MI, USA.","DOI":"10.1109\/IROS.2009.5354154"},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Lee, D.-H., Kim, D.-H., Lee, J.Y., and Han, C.-S. (2014, January 22\u201325). Collision-free coordination of two dual-arm robots with assembly precedence constraint. Proceedings of the 2014 14th International Conference on Control, Automation and Systems (ICCAS 2014); Institute of Electrical and Electronics Engineers (IEEE), Seoul, Korea.","DOI":"10.1109\/ICCAS.2014.6988044"},{"key":"ref_9","unstructured":"Davis, D.P. (2014). Collision Free Path planning of an Object Using Multiple Robot Manipulators. [Marster\u2019s Thesis, RHODE ISLAND University]."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Harada, K., Tsuji, T., Laumond, J.-P., Harada, K., and Tsuji, T. (June, January 31). A manipulation motion planner for dual-arm industrial manipulators. Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China.","DOI":"10.1109\/ICRA.2014.6906965"},{"key":"ref_11","unstructured":"Ge, Q., and McCarthy, J. (1989, January 14\u201319). Equations for boundaries of joint obstacles for planar robots. Proceedings of the 1989 International Conference on Robotics and Automation, Scottsdale, AZ, USA."},{"key":"ref_12","unstructured":"Dooley, J., and McCarthy, J. (1990, January 13\u201318). Parameterized descriptions of the joint space obstacles for a 5r closed chain robot. Proceedings of the IEEE International Conference on Robotics and Automation, Cincinnati, OH, USA."},{"key":"ref_13","unstructured":"Branicky, M.S., and Newman, W.S. (1990, January 13\u201318). Parameterized descriptions of the joint space obstacles for a 5r closed chain robot. Proceedings of the IEEE International Conference on Robotics and Automation, Cincinnati, OH, USA."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"650","DOI":"10.1177\/027836499101000605","article-title":"Branicky, Real-time configuration space transforms for obstacle avoidance","volume":"10","author":"Newman","year":"1990","journal-title":"Int. J. Robot. Res."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"046","DOI":"10.15302\/J-ENG-2015009","article-title":"Efficient configuration space construction and optimization516for motion planning","volume":"1","author":"Pan","year":"2015","journal-title":"Engineering"},{"key":"ref_16","unstructured":"Vega, A.N. (2001). Development of a Real-Time Proximity Warning and 3-d Mapping System Based on Wireless Networks, Virtual Reality Graphics, and Gps to Improve Safety in Open-Pit Mines. [Ph.D. Thesis, Colorado School of Mines]."},{"key":"ref_17","unstructured":"Nieto, A., and Dagdelen, K. (2003, January 14\u201316). Development and testing of a vehicle collision avoidance system based on gps and wireless networks for open-pit mines. Proceedings of the Application of Computers and Operations Research in the Minerals Industries, Cape Town, South Africa."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"175","DOI":"10.1016\/S0022-4375(02)00074-9","article-title":"Preventing collisions involving surface mining equipment: a gps-based approach","volume":"34","author":"Ruff","year":"2003","journal-title":"J. Saf. Res."},{"key":"ref_19","unstructured":"Ruff, T.M. (2007). Recommendations for evaluating and implementing proximity warning systems on surface mining equipment. Safety and Health at Work for All People Through Research and Prevention DHHS (NIOSH), NIOSH. Publication No. 2007-146."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"92","DOI":"10.1016\/j.aap.2005.07.006","article-title":"Evaluation of a radar-based proximity warning system for off-highway dump trucks","volume":"38","author":"Ruff","year":"2006","journal-title":"Accid. Anal. Prev."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"79","DOI":"10.1007\/s00366-006-0046-6","article-title":"Interactive collision detection in three-dimensional visualizations of simulated construction operations","volume":"23","author":"Kamat","year":"2007","journal-title":"Eng. Comput."},{"key":"ref_22","unstructured":"Marks, E., and Teizer, J. (2020, March 26). Proximity sensing and warning technology for heavy construction equipment operation. Available online: https:\/\/ascelibrary.org\/doi\/abs\/10.1061\/9780784412329.099."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"636","DOI":"10.1080\/01446193.2013.783705","article-title":"Method for testing proximity detection and alert technology for safe construction equipment operation","volume":"31","author":"Marks","year":"2013","journal-title":"Constr. Manag. Econ."},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Teizer, J. (2015, January 15\u201318). Magnetic field proximity detection and alert technology for safe heavy construction equipment operation. Proceedings of the 32nd International Symposium on Automation and Robotics in Construction and Mining (ISARC 2015), Oulu, Finland.","DOI":"10.22260\/ISARC2015\/0062"},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"99","DOI":"10.1016\/j.autcon.2016.03.008","article-title":"Heat map generation for predictive safety planning: Preventing struck-by and near miss interactions between workers-on-foot and construction equipment","volume":"71","author":"Golovina","year":"2016","journal-title":"Autom. Constr."},{"key":"ref_26","doi-asserted-by":"crossref","unstructured":"Wang, J., and Razavi, S. (2016). Two 4d models effective in reducing false alarms for struck-by equipment hazard prevention. J. Comput. Civ. Eng., 30.","DOI":"10.1061\/(ASCE)CP.1943-5487.0000589"},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"197","DOI":"10.1061\/(ASCE)0887-3801(2003)17:3(197)","article-title":"Automated path planning of cooperative crane lifts using heuristic search","volume":"17","author":"Sivakumar","year":"2003","journal-title":"J. Comput. Civ. Eng."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"182","DOI":"10.1061\/(ASCE)0887-3801(2005)19:2(182)","article-title":"Collision free path planning of cooperative crane manipulators using genetic algorithm","volume":"19","author":"Ali","year":"2005","journal-title":"J. Comput. Civ. Eng."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"398","DOI":"10.1016\/j.autcon.2005.06.008","article-title":"Planning and visualization for automated robotic crane erection processes in construction","volume":"15","author":"Kang","year":"2006","journal-title":"Autom. Constr."},{"key":"ref_30","doi-asserted-by":"crossref","unstructured":"Li, Z., Li, X., Liu, S., and Jin, L. (2015, January 19\u201322). A study on trajectory planning of hydraulic robotic excavator based on movement stability. Proceedings of the 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Xian, China.","DOI":"10.1109\/URAI.2016.7625784"},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"368","DOI":"10.1016\/j.autcon.2009.12.008","article-title":"Application of rfid technology to prevention of collision accident with heavy equipment","volume":"19","author":"Chae","year":"2010","journal-title":"Autom. Constr."},{"key":"ref_32","doi-asserted-by":"crossref","unstructured":"Jo, B.-W., Lee, Y., Kim, J.-H., Kim, D.-K., and Choi, P.-H. (2017). Proximity warning and excavator control system for prevention of collision accidents. Sustainability, 9.","DOI":"10.3390\/su9081488"},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"630","DOI":"10.1016\/j.autcon.2010.02.009","article-title":"Autonomous pro-active real time construction worker and equipment operator proximity safety alert system","volume":"19","author":"Teizer","year":"2010","journal-title":"Autom. Constr."},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"2","DOI":"10.1186\/2213-7459-1-2","article-title":"Uncertainty-aware visualization and proximity monitoring in urban excavation: A geospatial augmented reality approach","volume":"1","author":"Su","year":"2013","journal-title":"Vis. Eng."},{"key":"ref_35","doi-asserted-by":"crossref","unstructured":"Vahdatikhaki, F., and Hammad, A. (2015, January 15\u201318). Visibility and proximity based risk map of earthwork site using real-time simulation. Proceedings of the 32nd International Symposium on Automation and Robotics in Construction and Mining (ISARC 2015), Oulu, Finland.","DOI":"10.22260\/ISARC2015\/0028"},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"05016001","DOI":"10.1061\/(ASCE)CO.1943-7862.0001108","article-title":"Uncertainty-aware visualization and proximity monitoring in urban excavation: a geospatial augmented reality approach","volume":"142","author":"Shen","year":"2016","journal-title":"J. Constr. Eng. Manag."},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"19","DOI":"10.1007\/978-3-319-67361-5_2","article-title":"Safe self-collision avoidance for versatile robots based on bounded potential","volume":"5","author":"Gonon","year":"2017","journal-title":"Springer Proc. Adv. Robot."},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"1549","DOI":"10.1007\/978-3-319-08338-4_111","article-title":"A proposed architecture for autonomous operations in backhoe machines","volume":"302","author":"Mastalli","year":"2015","journal-title":"Adv. Intell. Syst. Comput."},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"267","DOI":"10.1016\/j.autcon.2017.04.008","article-title":"Enhancing coordination and safety of earthwork equipment operations using multi-agent system","volume":"81","author":"Vahdatikhaki","year":"2017","journal-title":"Autom. Constr."},{"key":"ref_40","unstructured":"Craig, J. (2014). Introduction to Robotics: Mechanics and Control, PEARSON."},{"key":"ref_41","unstructured":"Sun, D. (2019, September 13). Simulation Code: Creation of One Excavator as an Obstacle in C-Space for Collision Avoidance during Two Excavator Cooperation, Hanyang University. Available online: http:\/\/repository.hanyang.ac.kr\/handle\/20.500.11754\/601110426."},{"key":"ref_42","doi-asserted-by":"crossref","unstructured":"Lee, J., Kim, B., Sun, D., Han, C.-S., and Ahn, Y.H. (2019). Development of unmanned excavator vehicle system for performing dangerous construction work. Sensors, 19.","DOI":"10.3390\/s19224853"},{"key":"ref_43","doi-asserted-by":"crossref","first-page":"102890","DOI":"10.1016\/j.autcon.2019.102890","article-title":"Development of bulldozer sensor system for estimating the position of blade cutting edge","volume":"106","author":"Kim","year":"2019","journal-title":"Autom. Constr."},{"key":"ref_44","doi-asserted-by":"crossref","first-page":"79","DOI":"10.1016\/j.autcon.2015.03.006","article-title":"Optimization-based excavator pose estimation using real-time location systems","volume":"56","author":"Vahdatikhaki","year":"2015","journal-title":"Autom. Constr."}],"container-title":["Remote Sensing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2072-4292\/12\/7\/1122\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T09:14:22Z","timestamp":1760174062000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2072-4292\/12\/7\/1122"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,4,1]]},"references-count":44,"journal-issue":{"issue":"7","published-online":{"date-parts":[[2020,4]]}},"alternative-id":["rs12071122"],"URL":"https:\/\/doi.org\/10.3390\/rs12071122","relation":{},"ISSN":["2072-4292"],"issn-type":[{"type":"electronic","value":"2072-4292"}],"subject":[],"published":{"date-parts":[[2020,4,1]]}}}