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Tracking the Ground: Online Lidar Identification of Robot-Induced Soil Deformation in Agricultural Environments

arXiv · AI, language, vision and robotics · article · Sep 14, 2026 · UTC

Agriculture faces many challenges, and robotic systems can play an important role in addressing them by improving the efficiency and sustainability of field operations. Among these challenges, preserving soil health is a critical concern, as vehicle-soil interactions can degrade the soil structure and produce unwanted surface deformation. A key step toward soil-aware robotics is to explicitly account for how vehicle traffic deforms the ground, yet soil state is typically not treated as a variable. We address this gap by proposing a framework to quantify traffic-induced soil deformation and est

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