  Establishing lunar infrastructure is paramount to long-term habitation on the
Moon. To meet the demand for future lunar infrastructure development, we
present CraterGrader, a novel system for autonomous robotic earthmoving tasks
within lunar constraints. In contrast to the current approaches to construction
autonomy, CraterGrader uses online perception for dynamic mapping of deformable
terrain, devises an energy-efficient material movement plan using an
optimization-based transport planner, precisely localizes without GPS, and uses
integrated drive and tool control to manipulate regolith with unknown and
non-constant geotechnical parameters. We demonstrate CraterGrader's ability to
achieve unprecedented performance in autonomous smoothing and grading within a
lunar-like environment, showing that this framework is capable, robust, and a
benchmark for future planetary site preparation robotics.
