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Deriving The Fundamental Equation of Earthmoving and Configuring Vortex Studio Earthmoving Simulation for Soil Property Estimation Experimentation

Robotics 2025-05-27 v1
Authors: W. Jacob Wagner
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Abstract

This document serves as supplementary material for two International Society for Terrain-Vehicle Systems conference publications regarding in situ soil property estimation by Wagner et al. in 2023 and 2025. It covers the derivation of the fundamental equation of earthmoving for a flat blade moving through sloped soil and provides some information regarding the advanced configuration of Vortex Studio's soil-tool interaction simulation.

Keywords

earthmoving equation soil property estimation Vortex Studio soil-tool interaction simulation

Cite

@article{arxiv.2505.19330,
  title  = {Deriving The Fundamental Equation of Earthmoving and Configuring Vortex Studio Earthmoving Simulation for Soil Property Estimation Experimentation},
  author = {W. Jacob Wagner},
  journal= {arXiv preprint arXiv:2505.19330},
  year   = {2025}
}

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