Computer graphics
Environment mapping and other applications of world projections
IEEE Computer Graphics and Applications
Accessibility analysis for polyhedral objects
Engineering systems with intelligence
On geometric assembly planning
On geometric assembly planning
Automatic generation of high level inspection plans for coordinate measuring machines
Automatic generation of high level inspection plans for coordinate measuring machines
Geometric reasoning about assembly tools
Artificial Intelligence
On finding narrow passages with probabilistic roadmap planners
WAFR '98 Proceedings of the third workshop on the algorithmic foundations of robotics on Robotics : the algorithmic perspective: the algorithmic perspective
Texture and reflection in computer generated images
Communications of the ACM
Accessibility Analysis Using Computer Graphics Hardware
IEEE Transactions on Visualization and Computer Graphics
A subdivision algorithm for computer display of curved surfaces.
A subdivision algorithm for computer display of curved surfaces.
Generating robot motion: the integration of planning and execution
Generating robot motion: the integration of planning and execution
Real-Time Collision Detection (The Morgan Kaufmann Series in Interactive 3-D Technology) (The Morgan Kaufmann Series in Interactive 3D Technology)
Active vision in robotic systems: A survey of recent developments
International Journal of Robotics Research
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In this paper, we present visibility-based spatial reasoning techniques for real-time object manipulation in cluttered environments. When a robot is requested to manipulate an object, a collision-free path should be determined to access, grasp, and move the target object. This often requires processing of time-consuming motion planning routines, making real-time object manipulation difficult or infeasible, especially in a robot with a high DOF and/or in a highly cluttered environment. This paper places special emphasis on developing real-time motion planning, in particular, for accessing and removing an object in a cluttered workspace, as a local planner that can be integrated with a general motion planner for improved overall efficiency. In the proposed approach, the access direction of the object to grasp is determined through visibility query, and the removal direction to retrieve the object grasped by the gripper is computed using an environment map. The experimental results demonstrate that the proposed approach, when implemented by graphics hardware, is fast and robust enough to manipulate 3D objects in real-time applications.