3 accepted papers
This paper introduces a novel motion planning algorithm designed for a team of curvature-constrained tethered robots operating on sloped 3D terrains. Our approach addresses the critical issues of tether-terrain interaction, robot stability, and tether entanglement avoidance. The study focuses on a t
In the absence of a tether attachment mechanism that can provide infinitely large tension to the tethered robots moving on extreme planetary terrains, there is a limit on how much tension can be realistically generated or supported by the tether. In this paper, we consider a team of two robots tethe…
In this paper, a variant of hybrid A* is developed to find the shortest path for a curvature-constrained robot, that is tethered at its start position, such that the tether satisfies user-defined winding angle constraints. A variant of tangent graphs is used as an underlying graph for searching a pa…