Planning coordinated motions for tethered planar mobile robots

• Main Authors: Zhang, Xu, Pham, Quang-Cuong
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2020
• Subjects: Engineering::Mechanical engineering::Robots; Multi-robot Motion Planning; Tethered Robots
• Online Access: https://hdl.handle.net/10356/141229
• Institution: Nanyang Technological University

This paper considers the motion planning problem for multiple tethered planar mobile robots. Each robot is attached to a fixed base by a flexible cable. Since the robots share a common workspace, the interactions amongst the robots, cables, and obstacles pose significant difficulties for planning. P...