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Planning coordinated motions for tethered planar mobile robots [article]

Xu Zhang, Quang-Cuong Pham
2019 arXiv   pre-print
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.  ...  The authors would like to thank Hung Pham, Teguh Santoso Lembono and Lim Jian Hui for their constructive remarks on earlier versions of the manuscript, Lim Jian Hui and Panda Biranchi for their helps with  ... 
arXiv:1905.07873v1 fatcat:3odeek77rferbcmihqjmcp7nxe

Motion Planning for a UAV with a Straight or Kinked Tether [article]

Xuesu Xiao, Jan Dufek, Mohamed Suhail, Robin Murphy
2018 arXiv   pre-print
This paper develops and compares two motion planning algorithms for a tethered UAV with and without the possibility of the tether contacting the confined and cluttered environment.  ...  from the usage of a tether.  ...  ACKNOWLEDGMENT This work is supported by NSF 1637955, NRI: A Collaborative Visual Assistant for Robot Operations in Unstructured or Confined Environments.  ... 
arXiv:1811.02119v1 fatcat:xti4ov2zrfh3vje5dcaskvyarq

Four-Arm Collaboration: Two Dual-Arm Robots Work Together to Maneuver Tethered Tools [article]

Daniel Sanchez, Weiwei Wan, Keisuke Koyama, Kensuke Harada
2020 arXiv   pre-print
In this paper, we present a planner for a master dual-arm robot to manipulate tethered tools with an assistant dual-arm robot's help.  ...  The assistant robot provides assistance to the master robot by manipulating the tool cable and avoiding collisions.  ...  Early work includes a path planner for a tethered robot [14] , a motion planning method for achieving the desired cable configuration using multiple tethered robots [15] , etc.  ... 
arXiv:2009.14089v1 fatcat:yba23riyzrgtfpibyqwv43sqju

Online motion planning for tethered robots in extreme terrain

Melissa M. Tanner, Joel W. Burdick, Issa A. D. Nesnas
2013 2013 IEEE International Conference on Robotics and Automation  
To prevent tether entanglement during descent and subsequent ascent through such terrain, a motion planning procedure is needed.  ...  Abad-Manterola, Nesnas, and Burdick [1] previously presented such a motion planner for the case in which the geometry of the terrain is known a priori with high precision.  ...  ACKNOWLEDGMENTS The authors yould like to thank the Keck Institute for Space Studies for their support, and the reviewers for their insightful comments.  ... 
doi:10.1109/icra.2013.6631375 dblp:conf/icra/TannerBN13 fatcat:2s2lmmtebfhnbfxs7xi3wsrlu4

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

S. Hert, V. Lumelsky
1999 IEEE Transactions on Robotics and Automation  
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.  ...  Conclusion Algorithms have been presented for computing a motion plan for a set of n tethered autonomous robots moving between given starting and target points in a three-dimensional environment.  ... 
doi:10.1109/70.781966 fatcat:y4eomlepj5cjzhvr4g3nsojoxu

Towards Tethered Tool Manipulation Planning with the Help of a Tool Balancer

Daniel Sanchez, Weiwei Wan, Kensuke Harada
2020 Robotics  
Handling and maneuvering tools across a robot workspace is a challenging task that often requires the implementation of constrained motion planning.  ...  The present paper introduces a constrained manipulation planner for dual-armed tethered tool manipulation involving tool re-grasping.  ...  This paper presents a manipulation planning solution for the manipulation of tethered tools.  ... 
doi:10.3390/robotics9010011 fatcat:d5gzgt3xg5ctlmvydqakjqhfju

Risk-aware Path and Motion Planning for a Tethered Aerial Visual Assistant in Unstructured or Confined Environments [article]

Xuesu Xiao
2020 arXiv   pre-print
This research aims at developing path and motion planning algorithms for a tethered Unmanned Aerial Vehicle (UAV) to visually assist a teleoperated primary robot in unstructured or confined environments  ...  The perception and actuation are tailored to fit the tethered agent in the form of a low level motion suite, including a novel tether-based localization model with negligible computational overhead, motion  ...  [64] developed a motion planning algorithm for multiple mobile tethered robots in a common planar environment.  ... 
arXiv:2007.09595v1 fatcat:gfo6mb75kbc5zkga6kaa54fyj4

Tethered Aerial Visual Assistance [article]

Xuesu Xiao, Jan Dufek, Robin R. Murphy
2020 arXiv   pre-print
for robot operations in unstructured or confined environments.  ...  Using a fundamental viewpoint quality theory, a formal risk reasoning framework, and a newly developed tethered motion suite, our visual assistant is able to autonomously navigate to good-quality viewpoints  ...  A low-overhead tether-based localization technique, two motion primitives to translate Cartesian motion to tethered commands, and a tether contact point(s) planning and relaxation algorithm work together  ... 
arXiv:2001.06347v1 fatcat:bxzdwozu3nhtnjpvofutszpdjq

Benchmarking Tether-based UAV Motion Primitives [article]

Xuesu Xiao, Jan Dufek, Robin Murphy
2019 arXiv   pre-print
The benchmarking results suggest appropriate usage of the two motion primitives for tethered UAVs with different path plans.  ...  The proposed motion primitives make tethered UAV a mobile and safe autonomous robot platform.  ...  Fig. 1 shows the co-robots team with tethered UAV developed by our group for robot operations in unstructured or confined environments, using the tethered UAV as a visual Co-robots Team with Tethered  ... 
arXiv:1904.07996v1 fatcat:oizubta25ndybmunydbjriahl4

Tethered Tool Manipulation Planning with Cable Maneuvering [article]

Daniel Sanchez, Weiwei Wan, Kensuke Harada
2019 arXiv   pre-print
In this paper, we present a planner for manipulating tethered tools using dual-armed robots.  ...  The planner generates robot motion sequences to maneuver a tool and its cable while avoiding robot-cable entanglements.  ...  Related work and Contribution This paper develops a motion planning solution for tethered tool manipulation using dual-armed robots.  ... 
arXiv:1909.10686v1 fatcat:wvjuqdu56fbwlo326lq6weafky

Explicit Motion Risk Representation [article]

Xuesu Xiao, Jan Dufek, Robin Murphy
2019 arXiv   pre-print
In this work, we provide formal reasoning behind what risk is for robot motion and propose a formal definition of risk in terms of a sequence of motion, namely path.  ...  The definition and representation of risk provide a meaningful way to evaluate or construct robot motion or path plans.  ...  It starts with a formal definition of risk in terms of path as in a practical low dimensional space for robotic path and motion planning.  ... 
arXiv:1904.08003v1 fatcat:kcn7ooii5ncpjiktsaeexoglm4

Dante II: Technical Description, Results, and Lessons Learned

John E. Bares, David S. Wettergreen
1999 The international journal of robotics research  
For more than five days the robot explored alone in the volcano crater using a combination of supervised autonomous control and teleoperated control.  ...  We show that framewalkers are appropriate for rappelling in severe terrain, though tether systems have limitations.  ...  The authors would like to thank Dave Lavery of NASA Code SM for his unflagging support of the Dante missions and telerobotic research in general.  ... 
doi:10.1177/02783649922066475 fatcat:sj5b5x2q4ffv7b2eh5aeuywolq

Exploring Mount Erebus by walking robot

David Wettergreen, Chuck Thorpe, Red Whittaker
1993 Robotics and Autonomous Systems  
This paper will appear in a special issue of Robotics and Autonomous Systems under the title "Exploring Mount Erebus by Walking Robot."  ...  We would like to thank the pilots and crew of the U.S. Navy VXE-6 for helicopter support.  ...  When a substantial error occurs, the executor stops execution of the gait plan, determines the current robot state, and sends a message to the gait planner to initiate generation of a new plan beginning  ... 
doi:10.1016/0921-8890(93)90022-5 fatcat:bjjobrcq3bc3ji4qj7le62hika

Optimization-based Trajectory Planning for Tethered Aerial Robots [article]

S. Martinez-Rozas, D. Alejo, F. Caballero, L. Merino
2021 arXiv   pre-print
This paper presents a non-linear optimization method for trajectory planning of tethered aerial robots.  ...  Particularly, the paper addresses the planning problem of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) by means of a tether.  ...  In [14] the authors propose a relative localization system for a marsupial tethered UGV-UAV pair.  ... 
arXiv:2011.03491v2 fatcat:ldeqihc5bncr3gitbn6tbnyyae

Object Gathering with a Tethered Robot Duo

Yao Su, Yuhong Jiang, Yixin Zhu, Hangxin Liu
2022 IEEE Robotics and Automation Letters  
Specifically, the proposed planning framework first produces a set of dense waypoints for each robot, serving as the initialization for optimization.  ...  We devise a cooperative planning framework to generate optimal trajectories for a tethered robot duo, who is tasked to gather scattered objects spread in a large area using a flexible net.  ...  Zhen Chen at BIGAI for their constructive discussions and help on experiments and figures.  ... 
doi:10.1109/lra.2022.3141828 fatcat:jjqjsx5mezapvhehixkcwlnate
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