HEAP (Hydraulic Excavator for an Autonomous Purpose), a modified 12-ton Menzi Muck M545, began by scanning a construction site, created a 3D map of it, then recorded the locations of boulders that had been dumped at the site. The robot then lifted each boulder off the ground and utilized machine vision technology to estimate its weight, center of gravity, and shape.

An internal algorithm then determined the best location for each boulder and built a stable, stacked/mortarless 20-ft high, 213-ft long stone wall.

Articles:

• https://newatlas.com/robotics/heap-autonomous-robotic-excavator-stone-wall/