Excavating earth from a dig site using an excavation vehicle

A non-transitory computer readable storage medium storing executable instructions for moving a volume of earth from a site encoded thereon that, when executed by a processor, cause the processor to:

• select, for an earth moving vehicle (EMV) in a dig site, a set of instructions for the EMV to move earth in the site, the set of instructions defining a location in the site from which a volume of earth is to be moved;
• once at the location, position a leading edge of a tool of the EMV at a depth below a ground surface;
• move the tool over a first distance at the location to move a portion of the volume of earth;
• measure a fill level of the tool;
• and
• responsive to determining that the fill level is below a threshold, move the tool a second distance at the location to move an additional portion of the volume of earth.

An earth moving vehicle (EMV) comprising:

• a processor;
• and
• a non-transitory computer readable storage medium storing executable instructions for moving a volume of material from a site encoded thereon that, when executed by a processor, cause the processor to:
• select, for an earth moving vehicle (EMV) in a dig site, a set of instructions for the EMV to move material in the site, the set of instructions defining a location in the site from which a volume of material is to be moved;
• once at the location, position a leading edge of a tool of the EMV at a depth below a ground surface;
• move the tool over a first distance at the location to move a portion of the volume of material;
• measure a fill level of the tool;
• and
• responsive to determining that the fill level is below a threshold, move the tool a second distance at the location to move an additional portion of the volume of material.