Abstract: An excavation inspection and clearance method and system is provided. The method includes: navigating the excavation with one or more autonomous agents; searching, using one or more sensors of the autonomous agents, for persons and/or equipment in proximity of the autonomous agent while navigating the excavation; and determining clear zones around each of the one or more autonomous agents according to a lack of persons and/or equipment in proximity of the autonomous agents while navigating the excavation. The one or more autonomous agents are configured to navigate the excavation such that the clear zones are maintained and can be joined to form a larger clear zone in the excavation.