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Eventually Optimal and Scalable Multi-Agent Planning for Block Cave Mining

arXiv · AI, language, vision and robotics · article · Sep 7, 2026 · UTC

Automation in underground mining has the potential to significantly enhance safety, operational efficiency, and sustainability. However, effectively coordinating fleets of autonomous vehicles in dynamic mine environments introduces substantial challenges in both optimization and motion planning. To address these challenges, we introduce and formalize the \emph{Block Cave Mining (BCM)} problem, which focuses on computing a transport plan that maximizes ore throughput while satisfying draw ratio constraints. To solve this problem, we propose SAMM, an eventually optimal anytime solver that jointl

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