US Patent 8407157 Locating harvested material within a work area

A method and system for locating harvested material comprises receiving material data including material location data on a material location of harvested material within a work area. Background data is obtained. A location-determining receiver determines a forwarder location of a forwarder. An estimator estimates economic cost factors associated with corresponding candidate paths or segments of candidate paths between the forwarder location and the material location. A selector selects a preferential planned path between the forwarder location and the material location consistent with the material data, background data, and minimization of the economic cost factors.