A controller for reaching and unveiling a partially occluded object of interest with an eye-in-hand robot

In this work, a control scheme for   approaching and unveiling  a partially occluded object of interest is proposed. The control scheme is based only on the classified point cloud obtained by the in-hand camera attached to the robot's end effector. It is shown that the proposed controller reaches in the vicinity of the object  progressively  unveiling the neighborhood of each visible point of the object of interest.  It can therefore potentially achieve the complete unveiling of the object. The proposed control scheme is evaluated through  simulations  and experiments with a UR5e robot with an in-hand RealSense camera on a mock-up vine setup for unveiling the stem of a grape cluster.