FORWARD: Dataset of a forwarder operating in rough terrain
type: Dataset
description: The FORWARD dataset comprises detailed sensor and log data from a Komatsu cut-to-length forwarder, collected during operations in challenging terrain as well as on gravel roads at two Swedish harvest sites. Sensor instrumentation includes RTK-GNSS for precise positioning, a 360-degree camera for visual documentation, operator seat vibration sensors, CAN-bus signal logging, and multiple IMUs mounted on the machine. The dataset provides time-stamped vehicle positions with centimeter-level accuracy, and machine event logs sampled at 5 Hz, covering variables such as driving speed, fuel consumption, and crane activity. Additionally, high resolution terrain data from helicopter-borne laser scanning (1500 points/m²) is included, along with StanForD production log files containing detailed event records for each work session.
citation: CreativeWork
  name: Lundbäck, M., Wallin, E., Häggström, C., Nyström, M., Grönlund, A., Richardson, M., ... & Servin, M. (2025). FORWARD: Dataset of a forwarder operating in rough terrain. arXiv preprint arXiv:2511.17318.
conditions of access: http://publications.europa.eu/resource/authority/access-right/PUBLIC
conditions of access: info:eu-repo/semantics/openAccess
contributor: SCA Skog AB
creative work status: completed
  type: DefinedTerm
  in defined term set: http://publications.europa.eu/resource/authority/dataset-status
  term code: COMPLETED
creator: Mikael Lundbäck
creator: Erik Wallin
creator: Carola Häggström
creator: Mattias Nyström
creator: Andreas Grönlund
creator: Mats Richardson
creator: Petrus Jönsson
  type: Person
  affiliation: Forestry Research Institute of Sweden
  family name: Jönsson
  given name: Petrus
creator: William Arnvik
creator: Lucas Hedström
creator: Arvid Fälldin
creator: Martin Servin
date modified: 2026-03-17
date published: 2026-03-17
funding: Grant
  identifier: DIA 2017/14 #6
  funder: Mistra Digital Forest, a research program funded by the Swedish Foundation for Strategic Environmental Research (Mistra) and the Swedish forestry industry
funding: Explainable, Safe, Contact-Aware Planning and Control for Heavy Machinery Manipulation and Navigation (XSCAVE)
  type: Grant
  identifier: Grant agreement ID: 101189836
  funder: European Commission
language: English
language: Swedish
is part of: https://doi.org/10.71540/gheq-ft56
keywords: Natural Sciences
  type: DefinedTerm
  term code: 1
keywords: Robotics and automation
  type: DefinedTerm
  term code: 20201
keywords: Other Mechanical Engineering
  type: DefinedTerm
  description: Including: Logistics, Combustion Technology, Recycling Technology, Tribology, Acoustics
  term code: 20399
keywords: Agriculture, Forestry and Fisheries
  type: DefinedTerm
  term code: 401
keywords: Forest Science
  type: DefinedTerm
  description: Including: Silviculture, Forest Genetics, Forest Mycology, Forest Pathology, Forest Technology, Forest History, Forest Ecology, Forest Economics
  term code: 40104
keywords: Artificial Intelligence
  type: DefinedTerm
  term code: 10210
keywords: forestry
keywords: video recording
keywords: artificial intelligence
keywords: automation systems
keywords: forest machines
keywords: log files
keywords: acoustic vibrations
  type: DefinedTerm
  term code: 182168
keywords: spatial resolution
  type: DefinedTerm
  description: The precision with which an optical instrument can produce separable images of different points on an object.
  term code: 63810
keywords: time synchronization
  type: DefinedTerm
  term code: 55653
keywords: offroad trafficability
keywords: cut-to-length
license: https://creativecommons.org/licenses/by/4.0/
publisher: Umeå University
spatial coverage: Västernorrland County
spatial coverage: Ånge Municipality
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version: 2

PropertyValue
property ID: DOI
value: 10.71540/89rs-s553

PropertyValue
property ID: DOI
value: 10.48550/arXiv.2511.17318

Mikael Lundbäck
type: Person
affiliation: Umeå University
family name: Lundbäck
given name: Mikael

Umeå University
type: Organization

Erik Wallin
type: Person
affiliation: Umeå University
family name: Wallin
given name: Erik

Carola Häggström
type: Person
affiliation: Swedish University of Agricultural Sciences
family name: Häggström
given name: Carola

Swedish University of Agricultural Sciences
type: Organization

Mattias Nyström
type: Person
affiliation: Komatsu Forest
family name: Nyström
given name: Mattias

Komatsu Forest
type: Organization

Andreas Grönlund
type: Person
affiliation: Komatsu Forest
family name: Grönlund
given name: Andreas

Mats Richardson
type: Person
affiliation: Forestry Research Institute of Sweden
family name: Richardson
given name: Mats

Forestry Research Institute of Sweden
type: Organization

William Arnvik
type: Person
affiliation: Swedish University of Agricultural Sciences
family name: Arnvik
given name: William

Lucas Hedström
type: Person
affiliation: Umeå University
family name: Hedström
given name: Lucas

Arvid Fälldin
type: Person
affiliation: Umeå University
family name: Fälldin
given name: Arvid

Martin Servin
type: Person
affiliation: Umeå University
family name: Servin
given name: Martin

Mistra Digital Forest, a research program funded by the Swedish Foundation for Strategic Environmental Research (Mistra) and the Swedish forestry industry
type: Organization

European Commission
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Swedish
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forestry
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video recording
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artificial intelligence
type: DefinedTerm
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automation systems
type: DefinedTerm
term code: p13920

forest machines
type: DefinedTerm
term code: p9227

log files
type: DefinedTerm
term code: p22480

Västernorrland County
type: Place

Ånge Municipality
type: Place

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