Controlling an excavation operation based on load sensing

A method for controlling an excavation operation by an excavator to obtain a design surface, wherein the method comprises

• accessing design data providing shape and location information of the design surface and accessing control commands for maneuvering an end effector of the excavator,
• accessing resistance data indicative of a resistance exerted against the end effector when it engages material to be moved,
• providing a first conversion rule configured to map the control commands to movement commands for the end effector, which cause the end effector to move according to a target path derived from the design surface, particularly wherein the target path runs at least in sections parallel to the design surface,
• providing a second conversion rule configured to map the control commands to movement commands for the end effector as a function of the resistance data and a digging efficiency criterion, wherein the second conversion rule is different from the first conversion rule and allows to move the end effector independently from the target path, and
• transitioning from the first conversion rule to the second conversion rule as a function of the resistance data.