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Autonomous Solutions, Inc. (ASI) has improved an algorithm for autonomous vehicles to detect drop-offs and other large negative obstacles often found in the environments in which automated off-road vehicles operate.

“ASI has developed a method for mapping point cloud occlusions in real-time,” said Taylor Bybee, Perception Tech Lead at ASI. “Which provides additional accuracy and safety when integrated into an autonomous vehicle obstacle detection and avoidance system.”

For safe navigation through an environment, autonomous ground vehicles rely on sensor data representing 3D space surrounding the vehicle. Often this data is obscured by objects or terrain, producing gaps in the sensor field of view. These gaps, or occlusions, can indicate the presence of obstacles, negative obstacles, or rough terrain.

Occlusions can be defined as a blockage which prevents a sensor from gathering data in a location. For example, occlusions can be seen as shadows in LiDAR data.

Because sensors receive no data in these occlusions, sensor data provides no explicit information about what might be found in the occluded areas. Information about the occlusions must be inferred from using an occlusion mapping algorithm to provide the navigation system with a more complete model of the environment.

“While sensor data itself doesn’t tell us what’s in the occluded areas, occlusions can represent negative obstacles like drop-offs or areas behind large obstacles,” said Jeff Ferrin, CTO at ASI. “It’s important to identify these areas for obstacle detection and avoidance to work properly.”

Application of this new technology can be useful in settings with dump edges at mine sites, steep road edges, canals, ditches, hills or stairs for indoor or urban environments.



The occlusion mapping algorithm has three main components.

The first is a sensor field of view (FOV) model that describes what obstacles the sensors are expected to detect. This component is designed for point cloud sensors such as 3D LiDAR, Flash LiDAR, Structured Light, and Stereo Cameras.

Second, an occlusion map is maintained and updated using the sensor FOV model and current sensor data to provide a probabilistic estimate on areas that have not been detected within the sensor FOV.

The third component is the integration of the occlusion map into an autonomous vehicle navigation system. It is designed to work with and complement existing obstacle detection and avoidance systems.

About ASI

Autonomous Solutions, Inc. (ASI) is a world leader in industrial vehicle automation. ASI serves clients across the world in the mining, agriculture, automotive, government, and manufacturing industries with remote control, teleoperation, and fully automated solutions from its headquarters and 100-acre proving ground in northern Utah.






Ferrexpo haul truck converted to full autonomy by ASI Mining

ASI Mining, a subsidiary of Autonomous Solutions, Inc. (ASI), has started work on a project in Ukraine to retrofit and automate a fleet of 15 haul trucks at the Ferrexpo Yeristovo Mine (FYM).

“This project is one of the first major autonomous haulage deployments in Eastern Europe. It represents a major milestone for the accessibility of automation at sites across the world,” said Patrick Hald, General Manager, ASI Mining. “Autonomous mining is no longer a luxury available only to the largest mines.”

FYM and ASI Mining successfully completed an initial test on October 21, 2019 by converting, and autonomously operating, a 793D haul truck. Ferrexpo plans to expand automation to a total of 15 trucks within the next two project phases, subject to market conditions and cash flows.

Alexander Tubaltsev, Chief Miner at Ferrexpo Yeristovo Mining, said “We selected ASI Mining because it is one of the world’s leading providers of robotics and automation and has already completed a significant number of successful deployments with major corporations in the mining and automotive industries. Ferrexpo is very proud to be the first to lead this initiative, not only in Ukraine, but also as the first open pit mine in Europe to do so.”



FYM anticipates the autonomous mining fleet will deliver significant safety benefits to employees, particularly by eliminating fatigue-induced accidents. The improved safety benefits will also be complemented by expected improvements in productivity and better control over the quality of the company’s ore mix.

ASI’s Mobius® Haulage A.I. will be a key component in the implementation and operation of the project. Mobius leverages advanced multi-vehicle command and control software to set up and manage a coordinated system of haul trucks. The Mobius Haulage Platform manages autonomous traffic, coordinates manned or unmanned vehicles and regulates the haul cycle in the most efficient way possible.

By employing Mobius software at the Yeristovo mine, Ferrexpo anticipates improvements in utilization, along with increased safety and productivity gains.

About ASI Mining

ASI Mining is partially owned by Epiroc, which acquired 34% of the company in 2018. ASI Mining is recognized for its products and solutions in robotics and autonomous vehicle technology including autonomous haulage, semi-autonomous blasting, drilling, dozing, loading and other applications. In addition to providing solutions for some of the world’s largest mining corporations, ASI Mining is also an automation partner for several global mining vehicle manufacturers. Learn more at www.asirobots.com/mining.

About Ferrexpo

Ferrexpo is a Swiss headquartered iron ore company with assets in Ukraine. It has been mining, processing and selling high quality iron ore pellets to the global steel industry for 40 years. Ferrexpo’s resource base is one of the largest iron ore deposits in the world. In 2018, the Group produced 10.6 million tonnes of pellets, a 2% increase compared to 2017, ranking it as the 3rd largest exporter of pellets to the global steel industry with a market share of approximately 8.5%. Ferrexpo has a diversified customer base supplying steel mills in Austria, Germany, Japan, South Korea, Taiwan, China, Slovakia, the Czech Republic, Turkey and Vietnam. Ferrexpo has a premium listing on the main market of the London Stock Exchange under the ticker FXPO. For further information, please visit www.ferrexpo.com.






Autonomous Solutions, Inc. (ASI) and Danfoss, a market leader in components and software for automation, have entered into an agreement to collaborate on technology for autonomous vehicles.

Danfoss products have long provided critical links from ASI’s software and processors to vehicle control systems and hardware via electrical, network, and hydraulic interfaces. The PLUS+1® platform has been particularly useful to ASI in automating vehicles for agriculture, mining, construction, and material handling applications.

Mel Torrie, President and CEO of ASI, says, “ASI has been using the best-in-class Danfoss components over the last 20 years to support our driverless vehicle development with the world’s leading vehicle OEMs. This new partnership will ensure manufacturers have the needed support to streamline their efforts in making autonomous industrial vehicles a mainstream reality.”

ASI looks forward to working with Danfoss to bring exciting new capabilities to a broader market and a wider range of applications, with world-class support for innovative new offerings. As the adoption of autonomous vehicle technology expands, more potential customers are seeing ways for automation to improve their products and services. This partnership will enable ASI and Danfoss to provide the building blocks for all kinds of implementations not viable in the past.

“This partnership demonstrates our ambition to invest in autonomy and be the innovative partner for our customers. It’s a promising partnership and we are excited about the potential in vehicle automation,” says Kim Fausing, President and CEO of Danfoss.



About ASI

Autonomous Solutions, Inc. is a world leader in vendor independent vehicle automation systems. From our headquarters and 100-acre proving ground in northern Utah, we serve clients in the mining, agriculture, automotive, construction, material handling, government, and manufacturing industries with remote control, teleoperation and fully automated solutions. ASI’s vehicle automation products can be found in companies and government agencies throughout the world. Read more about us at www.asirobots.com

About Danfoss

Danfoss engineers advanced technologies that enable us to build a better, smarter and more efficient tomorrow. In the world’s growing cities, we ensure the supply of fresh food and optimal comfort in our homes and offices, while meeting the need for energy-efficient infrastructure, connected systems and integrated renewable energy. Our solutions are used in areas, such as refrigeration, air conditioning, heating, motor control and mobile machinery. Our innovative engineering dates back to 1933 and today Danfoss holds market-leading positions, employing 27,000 people and serving customers in more than 100 countries. We are privately held by the founding family. Read more about us at www.danfoss.com.






Autonomous vehicle sensor screen shot

Autonomous Solutions, Inc. (ASI) has been awarded a SBIR Phase I grant from the U.S. Army Combat Capabilities Development Command Ground Vehicles Systems Center (formerly TARDEC) to develop a Deep Learning (DL) architecture that will support sensor fusion in environments with limited, or no, GPS.

“Environmental sensing today typically includes cameras, LiDAR and radar,” said Jeff Ferrin, CTO of ASI. “Each of these devices has a specific purpose, but not all of them work well in every situation. For example, cameras are great at collecting high-resolution color information, but do not provide much useful information in the dark.”

In addition to the challenges faced by cameras in poorly lit or degraded visual environments, LiDAR and radar sensors also have limitations. LiDAR performs well in most light conditions but may yield false positives in heavy rain, fog, snow or dust, due to its use of light spectrum wavelengths. Radar usually penetrates these degraded visual environments, but often lacks spatial resolution.

“ASI’s goal is to design a deep learning architecture that fuses information from LiDAR, radar and cameras,” said Ferrin. “We plan to build upon machine learning techniques we have already developed for LiDAR data.”



Deep learning is a branch of artificial intelligence and machine learning that allows valuable information to be extracted from large volumes of data. Cameras are often used in deep learning models because of their high output of information in regularly sampled data structures.

The case is different for LiDAR and radar. Naturally, these two sensor types do not provide regularly sampled data, making it difficult to formulate problems using current deep learning frameworks. This gap in current research efforts – deep learning for LiDAR and radar – is the focus of this grant.

Improved utilization of data from multiple devices can paint a more accurate picture of a vehicle’s surroundings, keeping it safer and making it more efficient. The details of the grant solicitation state, “It is anticipated that harnessing a wide variety of sensors altogether will benefit the autonomous vehicles by providing a more general and robust self-driving system, especially for navigating in different types of challenging weather, environments, road conditions and traffic.”

“In the last few years, we have seen a growing need in the world of robotics to advance industry capabilities in machine learning, deep learning, and other artificial intelligence algorithms to improve performance in these challenging environments,” said Ferrin.

ASI is required to demonstrate the feasibility of the deep learning architecture in a simulation environment, including a road following system that controls an autonomous vehicle, on a course with obstacles and a degraded visual environment.

About ASI

Autonomous Solutions, Inc. (ASI) is a world leader in industrial vehicle automation. ASI serves clients across the world in the mining, agriculture, automotive, government, and manufacturing industries with remote control, teleoperation, and fully automated solutions from its headquarters and 100-acre proving ground in northern Utah.

To learn more about ASI’s work with sensor fusion technology, visit the company’s Research and Development page.






Autonomous Tug

APRIL 9, 2019

Mendon, Utah – Autonomous Solutions, Inc. (ASI), the industry leader for practical vehicle autonomy, has introduced a new GPS-denied navigation solution for vehicle positioning.

This solution is ideal where satellite-based navigation is not an option, such as near buildings, under trees, near radio interference, and indoors. Historically, indoor positioning has relied on infrastructure installations such as magnets or wires in the floor or laser reflectors around a perimeter. These methods only allow travel on installed routes or only work if there’s nothing blocking a vehicle’s line of sight to the reflectors. Many new robotics technologies, vehicles, and applications have been waiting for a good positioning system that works without access to traditional satellite navigation systems and is free from the constraints imposed by indoor positioning infrastructure.

ASI’s GPS-denied navigation technology has been developed and tested in operational real-world facilities, including the following example applications. Autonomous floor-cleaning robots operate in a retail shopping environment where shelving remains the same, but smaller displays may be moved around, and in stockroom or warehouse areas. The routes followed by security robots often include going into and out of buildings. Material handling in a constantly changing package handling facility poses a particularly difficult problem; ASI’s technology has been designed to handle constantly changing environments, providing unmatched system uptime, flexibility, and ease of deployment. The system has also been tested in underground mining, where the automation technologies deployed in surface mines need only an alternative positioning system to make them feasible underground.



ASI now has a team of engineers dedicated to developing and fielding Facility Robotics technologies for use in cleaning, security, material handling, and similar applications. As the team that developed ASI’s GPS-denied navigation solution, they are the ideal partners to help bring to market exciting new products to assist facility operations by creating opportunities, improving performance, and saving money.

Autonomous Tug

ASI designs and manufactures unmanned vehicle systems, software, and components that are technology agnostic. ASI’s robotic building blocks platform can be leveraged in a variety of industries including agriculture, automotive, mining, military, security, and industrial applications. ASI’s vehicle automation kits are OEM independent and have been used for many different applications. Clients have experienced enhanced safety, increased efficiency, and improved accuracy.

For over 18 years, ASI has been a leader in vehicle automation and has worked with world leaders such as Sharp, Case IH and New Holland Agriculture, Ford, FCA America, Toyota, Hyundai, Rio Tinto, Barrick Gold, Boeing, Lockheed Martin, Northrop Grumman, Dematic and more. ASI has a strong software team which makes up over half of its engineering work force. ASI’s Mobius software allows for command and control of a fleet of vehicles in addition to ease of use, industry specific task planning, and vehicle diagnostics. ASI has extensive experience automating vehicles of all shapes and sizes with an emphasis on systems integration, obstacle detection and avoidance, tele-operation, and fully autonomous controls.

About ASI

Autonomous Solutions, Inc. (ASI) is a world leader in industrial vehicle automation. ASI serves clients across the world in the mining, agriculture, automotive, government, and manufacturing industries with remote control, teleoperation, and fully automated solutions from its headquarters and 100-acre proving ground in northern Utah.






Large autonomous truck

Autonomous Solutions, Inc. (ASI) has received Phase I funding from the U.S. Army Combat Capabilities Development Command Ground Vehicles Systems Center (formerly TARDEC) to improve the way heavy vehicles stop while operating autonomously.

“Bringing large autonomous vehicles to a safe stop in varying environments can be challenging,” said Jeff Ferrin, CTO of ASI. “Having additional funding from the Army to further develop this technology will help us make autonomous vehicles safer, which is always our number-one priority.”

The objective of the Army in awarding this grant is to develop and demonstrate a system that can be operated remotely and considers both the dynamics of the vehicle, as well as the environment, to optimally and safely bring a large ground vehicle to a complete stop despite the terrain.

“ASI has been working on terrain characterization with the Army since 2014,” said Ferrin. “This project will use similar technology to make sure the vehicle is aware of the terrain around it. This model of the terrain will then be used by the vehicle to ensure a safer stop is completed.”

A significant focus of this intelligent urgent stop initiative is machine learning. This improved technology will continuously monitor the interaction between a vehicle and its surroundings and update the internal model that is used to properly halt the vehicle. This process will allow the vehicle to learn and adapt as the terrain and environment change.

As the advanced solution is developed, tested and proven, it can be used by ASI’s autonomous vehicles across all the company’s multiple industries, including agriculture, automotive, construction haulage, mining, facility robotics and more.



According to Ferrin, “The system can be used with any drive-by-wire vehicle. It will interface with the brakes and steering to bring the vehicle to a safe, controlled stop.”

Details of the Phase I stage awarded to ASI include development of a concept design using commercial-off-the-shelf (COTS) sensors to perform safe deceleration of a large ground vehicle. A concept design report and performance analysis report are required deliverables before Phase II can be awarded.

About ASI

Autonomous Solutions, Inc. (ASI) is a world leader in industrial vehicle automation. ASI serves clients across the world in the mining, agriculture, automotive, government, and manufacturing industries with remote control, teleoperation, and fully automated solutions from its headquarters and 100-acre proving ground in northern Utah.






ASI autonomous convoy img 2

Autonomous Solutions, Inc. (ASI) is pleased to announce it recently received an AFWERX/AFRL Phase II SBIR award for $648,000 to automate a ground vehicle convoy on the test range at Edwards Air Force Base (AFB) in southern California.

AFRL and AFWERX have partnered to streamline the Small Business Innovation Research process in an attempt to speed up the experience, broaden the pool of potential applicants and decrease bureaucratic overhead. Beginning in June 2018, and through three repeat calls for ideas a year, the Air Force has begun offering ‘Special’ SBIR topics that are faster, leaner and open to a broader range of innovations.

“We are thrilled to have received funding for the second phase of this contract, and for the support of Edwards AFB,” said Jeff Ferrin, CTO at ASI. “This provides valuable resources for testing and enhancing the convoy capabilities of our Mobius command and control platform.”

The Mobius® platform is ASI’s proprietary command and control software used to operate self-driving vehicles. It has become known for delivering a powerful, user-friendly, autonomous vehicle experience to industries such as mining, agriculture, automotive, material handling, security and test range operations.

Mobius is designed to set specific tasks and control critical vehicle functions like steering, transmission, acceleration, brake and ignition of a vehicle from a remote location.

The goal of Edwards AFB is to use the Mobius® platform to improve precision, accuracy and repeatability of range testing.



Following a series of onsite visits, ASI selected the base as the best candidate for their solution.

“The most promising Air Force customer was Edwards AFB,” said Ferrin. “From the beginning of the Phase I project, they have been very interested in both Mobius and our convoy technology. The business case for efficiency and accuracy by applying Mobius at their training range is very strong.”

ASI was originally awarded Phase I of the federal grant as a result of the company’s response to a solicitation through the Small Business Innovation Research (SBIR) program, titled Open Call for Innovative Defense-Related Dual -Purpose Technologies/Solutions.

According to the solicitation details, the objective of the grant was to “explore options for solutions that may fall outside the Air Force’s current fields of focus but that may be useful to the US Air Force.”

Companies were required to complete a feasibility study and prototype validated concepts requested in both Phase I and Phase II schedules.

ASI received $50,000 for Phase I of the grant in 2018.

About ASI

Autonomous Solutions, Inc. (ASI) is a world leader in industrial vehicle automation. ASI serves clients across the world in the mining, agriculture, automotive, government, and manufacturing industries with remote control, teleoperation, and fully automated solutions from its headquarters and 100-acre proving ground in northern Utah.






ASI autonomous mine integration

October 30, 2018 – ASI Mining, an Autonomous Solutions, Inc. company, has secured an investment from Epiroc to scale ASI Mining’s autonomous mining platform and ensure access to Epiroc’s world-wide service and support channels.

“ASI Mining is now able to leverage Epiroc’s extensive mining automation experience and global service and support network,” said Mel Torrie, CEO of ASI. “This puts us in a position to rapidly scale in delivering mine automation systems that retrofit or integrate with any vehicle make or model.”

Epiroc’s investment in, and support of, ASI Mining reflects a growing, collaborative approach to addressing key industry concerns such as labor shortages, production levels and safety. The support of Epiroc will help ASI Mining provide its leading autonomous mining technology to its customers on a larger scale.

“The investment in ASI Mining is part of our strategy to expand in automation and interoperability in the mining segment,” said Helena Hedblom, Epiroc’s Senior Executive Vice President Mining and Infrastructure. “This is the future in mining, and the great team at ASI Mining has developed state-of-the-art solutions that will enhance Epiroc’s delivery of productivity and safety improvements to customers worldwide.”



About ASI Mining

ASI Mining is recognized for its products and solutions in robotics and autonomous vehicle technology with product offerings that cover a broad spectrum of machines and applications including autonomous haulage, semi-autonomous blasting, drilling, dozing, loading and others. In addition to providing solutions for some of the world’s largest mining corporations, ASI Mining is also an automation partner for several global mining vehicle manufacturers. Learn more at www.asirobots.com/mining.

About Epiroc

Epiroc is a leading productivity partner for the mining, infrastructure and natural resources industries. With cutting-edge technology, Epiroc develops and produces innovative drill rigs, rock excavation and construction equipment, and provides world-class service and consumables. The company is based in Stockholm, Sweden, had revenue of SEK 31.4 billion in 2017, and has more than 13,000 passionate people supporting and collaborating with customers in more than 150 countries. Learn more at www.epirocgroup.com.

Read press releases from both Epiroc and U.S.-based Epiroc Drilling Solutions.

Epiroc gray logo






Mobius® is an industry leading command and control software platform developed by Autonomous Solutions, Inc. (ASI). Over the years, Mobius has been developed and specialized to bring a powerful, custom driverless technology solution to industries like mining, agriculture, automotive, material handling, security, industrial cleaning and more.

Mobius and ASI’s driverless technology can be integrated into nearly any vehicle to make it autonomous. This disruptive technology is changing the way industry is looking at various operations and having a powerful and positive impact where implemented.

One of the most important benefits this technology is brining to industry is safety. Mobius increases safety by removing humans from dangerous environments.

Another benefit ASI customers have seen is increased efficiency leading to reduced operating costs. That means projects that were not being considered may now be feasible, allowing organizations to grow and expand.



ASI's Mobius command and control software
ASI’s Mobius command and control software has been applied to industries like agriculture, mining, automotive testing, material handling, security and more.

Mobius optimizes work by bringing multiple vehicles together in an orchestrated effort. The system can track both automated vehicles and manned vehicles allowing Mobius and all autonomous vehicles to be aware of the location of manned vehicles at all times. A single operator then oversees the entire operation and is notified of important events when necessary.

Through this technology, an operator can see vehicle-specific diagnostics and be alerted anytime systems are reaching near-critical levels. An operator overseeing the operation is also able to draw paths, set tolerances, set specific events at specific points, task vehicles and more.

Mobius incorporates the latest and greatest in cutting edge technology. Whatever the industry is, whatever the needs of an organization’s operations may be, Mobius can be adapted to meet those needs and enable that organization to scale growth and gain competitive advantage.

Contact ASI to learn how Mobius technology can take your organization to the next level.






JUNE 19, 2018 – Autonomous Solutions, Inc. (ASI): ASI Mining, has begun work on a project with Barrick Gold Corporation to retrofit and automate a fleet of haul trucks at the company’s Arturo Joint Venture operation in Nevada.

“This represents the first major autonomous deployment within the continental United States and signals a larger movement to adopt automation across the mining industry,” said Drew Larsen, Director of Business Development for ASI Mining.

During the initial phase of the project ASI will retrofit five Komatsu 930-E Ultra Class haul trucks to autonomous operation at the Arturo mine, located on property adjacent to Barrick’s Goldstrike operations. This phase will consist primarily of waste haulage, prior to moving into production. Subsequent phases will follow with potential expansion to additional trucks.

“Not only is this agreement with Barrick significant in the ongoing growth of ASI Mining,” said Larsen. “It enables Barrick to embark on its autonomous surface mining strategy in a pragmatic and collaborative manner with a technology partner such as ASI.”

Haul Truck components

ASI’s Mobius Haulage A.I. will be a key component in the implementation and operation of the project. Mobius leverages advanced multi-vehicle command and control software to set up and manage a coordinated system of haul trucks. The Mobius Haulage Platform manages autonomous traffic, coordinates manned or unmanned vehicles and regulates the haul cycle in the most efficient way possible.

By employing the Mobius platform at the Arturo mine, Barrick anticipates enhancements across a range of critical performance measurements.



“The goal is to use advances in automation technology to help Barrick prove and deliver improvements in safety, efficiency and production,” said Matt Majors, Superintendent of Mining Operations and project manager for autonomous haulage.

“Barrick chose ASI as a partner for their ability to provide an agnostic product – agnostic to equipment manufacturer and to mine layout and practices. This offers us greater flexibility and cost savings. Using the ASI kits, we are able to retrofit our existing fleet of haul trucks as well as additional multi-manufacturer equipment which will help us to realize additional savings should we decide to scale the technology in the future,” said Majors.

About Autonomous Solutions, Inc.

Autonomous Solutions, Inc. is a world leader in vehicle automation. ASI’s Mobius platform provides an OEM-agnostic, interoperable command and control software solution for autonomous vehicles. Mobius enables mine operations to integrate a variety of mining based vehicles under a comprehensive platform. ASI’s robotic hardware and software systems allow users to safely manage their entire fleet of vehicles autonomously. A world leader in vendor-independent vehicle automation systems, we serve clients in the mining, agriculture, automotive, government, and manufacturing industries with remote control, teleoperation, and fully automated solutions, all from our headquarters and 100-acre proving ground in northern Utah.

ASI’s vehicle automation products can be found in companies and government agencies throughout the world, including Anglo American, Rio Tinto, Ford Motor Company, Case New Holland, Luke Air Force Base, General Dynamics, Sharp Electronics, and others.

About Barrick Gold Corporation

Barrick’s vision is the generation of wealth through responsible mining—wealth for our owners, our people, and the countries and communities with which we partner. Founded in 1983 and headquartered in Toronto, Canada, Barrick has 11,000 employees, with mining operations and projects in 10 countries.