Xu, Z., Papallas, R., Modisett, J. et al. (2 more authors) (2025) Tracking and Control of Multiple Objects During Nonprehensile Manipulation in Clutter. IEEE Transactions on Robotics, 41. 3929 -3947. ISSN: 1552-3098
Abstract
This article introduces a method for 6-D pose tracking and control of multiple objects during nonprehensile manipulation by a robot. The tracking system estimates objects’ poses by integrating physics predictions, derived from robotic joint state information, with visual inputs from an RGB-D camera. Specifically, the methodology is based on particle filtering, which fuses control information from the robot as an input for each particle movement and with real-time camera observations to track the pose of objects. Comparative analyses reveal that this physics-based approach substantially improves pose tracking accuracy over baseline methods that rely solely on visual data, particularly during manipulation in clutter, where occlusions are a frequent problem. The tracking system is integrated with a model predictive control approach which shows that the probabilistic nature of our tracking system can help robust manipulation planning and control of multiple objects in clutter, even under heavy occlusions.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | This is an author produced version of an article published in IEEE Transactions on Robotics, made available under the terms of the Creative Commons Attribution License (CC-BY), which permits unrestricted use, distribution and reproduction in any medium, provided the original work is properly cited. |
Keywords: | 6-D pose tracking, multiobject tracking and manipulation, nonprehensile manipulation, particle filtering |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Computing (Leeds) |
Funding Information: | Funder Grant number EPSRC (Engineering and Physical Sciences Research Council) EP/R031193/1 EPSRC (Engineering and Physical Sciences Research Council) EP/V052659/1 |
Depositing User: | Symplectic Publications |
Date Deposited: | 06 Jun 2025 10:22 |
Last Modified: | 30 Jul 2025 22:47 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/TRO.2025.3577437 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:227494 |