Visibility-based spatial reasoning for object manipulation in cluttered environments

Han Young Jang, Hadi Moradi, Phuoc Le Minh, Sukhan Lee, Jung Hyun Han

Research output: Contribution to journalArticlepeer-review

10 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)422-438
Number of pages17
JournalCAD Computer Aided Design
Issue number4
Publication statusPublished - 2008 Apr

Bibliographical note

Funding Information:
The preliminary versions of the sections in this paper have appeared in [33–35] . The work presented in this paper was performed for the 21st Century Frontier R&D Programs funded by the Ministry of Science and Technology of Korea. This work was also supported by grant No. R01-2006-000-11297-0 from the Basic Research Program of the Korea Science & Engineering Foundation and by MIC, Korea under ITRC IITA-2006-(C1090-0603-0046).


  • Accessibility
  • Graphics hardware
  • Object manipulation
  • Spatial reasoning
  • Visibility

ASJC Scopus subject areas

  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design
  • Industrial and Manufacturing Engineering


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