# Motion planning in R3 for multiple tethered robots

@article{Hert1999MotionPI, title={Motion planning in R3 for multiple tethered robots}, author={Susan Hert and Vladimir J. Lumelsky}, journal={IEEE Trans. Robotics Autom.}, year={1999}, volume={15}, pages={623-639} }

The problem of motion planning in three dimensions for n tethered robots is considered. Motivation for this problem comes from the need to coordinate the motion of a group of tethered underwater vehicles. The motion plan must be such that it can be executed without the robots' tethers becoming tangled. The simultaneous-motion plan is generated in three steps. First, an ordering of the robots is produced that maximizes the number of robots that can move along straight lines to their targets…

## 30 Citations

Motion planning in R/sup 3/ for multiple tethered robots

- Computer ScienceProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97
- 1997

Two methods of computing the sequential-motion plan for the robots are presented, one computationally simple but guarantees no bound on the path length with respect to the optimal length; the second method guarantees nearly optimal paths for the given ordering.

Planning coordinated motions for tethered planar mobile robots

- Computer ScienceRobotics Auton. Syst.
- 2019

Optimal motion planning for a tethered robot: Efficient preprocessing for fast shortest paths queries

- Computer Science2015 IEEE International Conference on Robotics and Automation (ICRA)
- 2015

The approach, which plans optimal paths, is applicable to polygonal (translating) robots and can be used to plan a shortest path while ensuring a predefined clearance from the obstacles.

Online motion planning for tethered robots in extreme terrain

- Mathematics2013 IEEE International Conference on Robotics and Automation
- 2013

This paper presents an extension of the algorithm to the case where the terrain is poorly known prior to the start of the descent, and develops new results for how the discovery of previously unknown obstacles modifies the homotopy classes underlying the motion planning problem.

Shortest path planning for a tethered robot or an anchored cable

- Computer ScienceProceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)
- 1999

An algorithm is presented that runs in time O((k/sub l/+1)/sup 2/n/sup 4/) and finds the shortest path or correctly determines that none exists that obeys the constraints, where n is the number obstacle vertices, and k/ sub l/ is thenumber loops in the initial configuration of the tether.

Motion planning on steep terrain for the tethered axel rover

- Mathematics2011 IEEE International Conference on Robotics and Automation
- 2011

An algorithm is presented for tethered robot motion planning on steep terrain that reduces the likelihood that the tether will become entangled during descent and ascent of steep slopes and builds upon the notion of the shortest homotopic tether path and its associated sleeve.

A novel offline coverage path planning algorithm for a tethered robot

- Computer Science2017 17th International Conference on Control, Automation and Systems (ICCAS)
- 2017

This paper presents a solution to the problem of 2D coverage path planning (CPP) for a tethered robot where the tether is of a constraint length connected to a fixed point in a known environment.…

Motion Planning for a UAV with a Straight or Kinked Tether

- Engineering2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- 2018

Two motion planning algorithms are proposed that reduce the reachable configuration space by taking into account the tether and deliberately plan (and relax) the contact point(s) of the tether with the environment and enable an equivalent reachableconfiguration space as the non-tethered counterpart would have.

Algorithmic motion planning

- MathematicsHandbook of Discrete and Computational Geometry, 2nd Ed.
- 2004

This chapter will focus on algorithmic motion planning, emphasizing theoretical algorithmic analysis of the problem and seeking worst-case asymptotic bounds, and only mention briefly practical heuristic approaches to the problem.

## References

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Two methods of computing the sequential-motion plan for the robots are presented, one computationally simple but guarantees no bound on the path length with respect to the optimal length; the second method guarantees nearly optimal paths for the given ordering.

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This paper presents a simple trajectory planning strategy for dual-robot systems that can achieve time optimality as well as collision avoidance, and shows how this strategy can be used for loading and unloading applications.

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An algorithm is described for planning the motions of several mobile robots which share the same workspace, where the decomposition used is based on the idea of a product operation defined on the cells in a decomposition of a two-dimensional free space.

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Notions of collision map and time scheduling are developed and applied for realizing a collision-free motion planning and an example is shown for the time scheduling of the trajectory, which shows the significance of the proposed approach.

Fast motion planning for multiple moving robots

- Computer ScienceProceedings, 1989 International Conference on Robotics and Automation
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It is shown that careful priority assignment can greatly reduce the average running time of the planner, and a priority assignment method is introduced which attempts to maximize the number of robots which can move in a straight line form their start point to their goal point.

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The problem of finding a sequence of commanded velocities which is guaranteed to move the point to the goal is shown to be non-deterministic exponential time hard, making it the first provably intractable problem in robotics.

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- Computer ScienceProceedings. 1991 IEEE International Conference on Robotics and Automation
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A novel method for solving the motion planning problem in the presence of moving obstacles is presented, which is more general in that obstacles are allowed to move with translation and rotation at nonlinear velocity.

Motion Planning in the Presence of Moving Obstacles

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Evidence that the 3-D dynamic movement problem is intractable even if B has only a constant number of degrees of freedom of movement is provided, and evidence that the problem is PSPACE-hard if B is given a velocity modulus bound on its movements.