Estimation Algorithm of Machine Operational Intention by Bayes Filtering with Self-Organizing Map

Table 1

Classified operational intention modes, variables, and labels.

Variable	Label	Meanings
^(1)𝑧⋯^(3)𝑧	T/A-*	Truck’s approach to the drilling site*
^(4)𝑧⋯^(6)𝑧	E/A-*	Excavator’s approach to the drilling site*
^(7)𝑧⋯^(9)𝑧	T/P-*	Truck’s positioning around the drilling site*
^(10)𝑧⋯^(12)𝑧	E/P-*	Excavator’s positioning around the drilling site*
^(13)𝑧	E/D	Excavator’s digging
^(14)𝑧	E/L	Excavator’s loading of the payload
^(15)𝑧	T/TU	Transport of the payload by track and unloading

(*a, b, c: identifier of the drilling site).