US Patent 9297147 Semi-autonomous tractor system crest ramp removal

A computer-implemented method for removing a crest end ramp along a work surface using a machine is provided. The computer-implemented method may include defining a volume threshold corresponding to a crest end region of the work surface where the volume threshold may be adjustable based on one or more parameters associated with the machine and the work surface, calculating a volume of material within the crest end region, comparing the calculated volume with the volume threshold, issuing a ramp cut if the calculated volume approximates but does not exceed the volume threshold, and issuing a short cut if the calculated volume exceeds the volume threshold.