Novel Sweeping Methods for Robotic Rearrangement of Object Piles
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F26%3A0199512" target="_blank" >RIV/00216305:26210/26:0199512 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/CASE58245.2025.11163961" target="_blank" >http://dx.doi.org/10.1109/CASE58245.2025.11163961</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/CASE58245.2025.11163961" target="_blank" >10.1109/CASE58245.2025.11163961</a>
Alternative languages
Result language
angličtina
Original language name
Novel Sweeping Methods for Robotic Rearrangement of Object Piles
Original language description
In this paper, we investigate robotic pile rearrangement algorithms to redistribute objects in cluttered scenes for improving the performance of object recognition and picking systems. In particular, we focus on identifying the best pile sweeping actions in fast-paced industrial sorting applications where the robot would only have limited time to react, i.e., has one chance to sweep. The robot's sweep aims to minimize occlusions and improve visibility of the objects in the scene. We first study the performance of three methods that utilize dimensionality reduction techniques (i.e., clustering and PCA) as baselines, discussing their strengths and weaknesses. We then present a novel sampling-based approach for determining the best start and end points for the sweeping motions based on an action evaluation metric. Additionally, we adapted the best performing method to prioritize minimizing occlusion for specific objects. Our results show that the sampling-based method performs more consistently and successfully across different initial pile configurations.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20200 - Electrical engineering, Electronic engineering, Information engineering
Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2025
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
IEEE International Conference on Automation Science and Engineering
ISBN
9798331522469
ISSN
2161-8070
e-ISSN
2161-8089
Number of pages
8
Pages from-to
1788-1795
Publisher name
IEEE Computer Society
Place of publication
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Event location
Los Angeles, California, USA
Event date
Aug 17, 2025
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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