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… 
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