Recent work in robotic manipulation focuses on object retrieval in cluttered spaces under occlusion. Nevertheless, the majority of efforts lack an analysis of conditions for the completeness of the approaches or the methods apply only when objects can be removed from the workspace. This work formulates the general, occlusion-aware manipulation task, and focuses on safe object reconstruction in a confined space with in-place rearrangement. It proposes a framework that ensures safety with completeness guarantees. Furthermore, an algorithm, which is an instantiation of this abstract framework for monotone instances is developed and evaluated empirically by comparing against a random and a greedy baseline on randomly generated experiments in simulation. Even for cluttered scenes with realistic objects, the proposed algorithm significantly outperforms the baselines and maintains a high success rate across experimental conditions.


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    Title :

    Safe, Occlusion-Aware Manipulation for Online Object Reconstruction in Confined Spaces


    Additional title:

    Springer Proceedings in Advanced Robotics


    Contributors:

    Conference:

    The International Symposium of Robotics Research ; 2022 ; Geneva, Switzerland September 25, 2022 - September 30, 2022


    Published in:

    Robotics Research ; Chapter : 18 ; 268-284


    Publication date :

    2023-03-08


    Size :

    17 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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