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A starting point for roadheader robotisation (understood as a fully autonomous machine) is to automate the cutting process, which is the basic working process carried out by such machines. In case of boomпїЅtype roadheaders, it consists in automatic control of the movement of cutting heads to ensure that the face surface can be worked with optimum process parameters. This will guarantee high drilling efficiency (drilling advancement) and lower energy consumption, reduced dynamic loads and elimination of overloads....