{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,1]],"date-time":"2025-11-01T02:43:58Z","timestamp":1761965038447,"version":"build-2065373602"},"reference-count":29,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2018,11,27]],"date-time":"2018-11-27T00:00:00Z","timestamp":1543276800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>This work proposes the application of several smart strategies for object manipulation tasks. A real-time flexible motion planning method was developed to be adapted to typical in-store logistics scenarios. The solution combines and optimizes some state-of-the-art techniques to solve object recognition and localization problems with a new hybrid pipeline. The algorithm guarantees good robustness and accuracy for object detection through depth images. A standard planner plans collision-free trajectories throughout the whole task while a proposed reactive motion control is active. Distributed proximity sensors were adopted to locally modify the planned trajectory when unexpected or misplaced obstacles intervene in the scene. To implement a robust grasping phase, a novel slipping control algorithm was used. It dynamically computes the grasp force by adapting it to the actual object physical properties so as to prevent slipping. Experimental results carried out in a typical supermarket scenario demonstrate the effectiveness of the presented methods.<\/jats:p>","DOI":"10.3390\/robotics7040076","type":"journal-article","created":{"date-parts":[[2018,11,27]],"date-time":"2018-11-27T12:17:35Z","timestamp":1543321055000},"page":"76","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Motion Planning and Reactive Control Algorithms for Object Manipulation in Uncertain Conditions"],"prefix":"10.3390","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8364-6728","authenticated-orcid":false,"given":"Marco","family":"Costanzo","sequence":"first","affiliation":[{"name":"Dipartimento di Ingegneria, Universit\u00e0 degli Studi della Campania Luigi Vanvitelli, Via Roma 29, 81031 Aversa, Italy"}]},{"given":"Giuseppe","family":"De Maria","sequence":"additional","affiliation":[{"name":"Dipartimento di Ingegneria, Universit\u00e0 degli Studi della Campania Luigi Vanvitelli, Via Roma 29, 81031 Aversa, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6650-1786","authenticated-orcid":false,"given":"Gaetano","family":"Lettera","sequence":"additional","affiliation":[{"name":"Dipartimento di Ingegneria, Universit\u00e0 degli Studi della Campania Luigi Vanvitelli, Via Roma 29, 81031 Aversa, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6550-0573","authenticated-orcid":false,"given":"Ciro","family":"Natale","sequence":"additional","affiliation":[{"name":"Dipartimento di Ingegneria, Universit\u00e0 degli Studi della Campania Luigi Vanvitelli, Via Roma 29, 81031 Aversa, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1237-0389","authenticated-orcid":false,"given":"Salvatore","family":"Pirozzi","sequence":"additional","affiliation":[{"name":"Dipartimento di Ingegneria, Universit\u00e0 degli Studi della Campania Luigi Vanvitelli, Via Roma 29, 81031 Aversa, Italy"}]}],"member":"1968","published-online":{"date-parts":[[2018,11,27]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Costanzo, M., De Maria, G., Lettera, G., Natale, C., and Pirozzi, S. 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