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Several potentially important science targets have been observed in extreme terrains (steep or vertical slopes, possibly covered in loose soil or granular media) on other planets. Robots which can access these extreme terrains will likely use tethers to provide climbing and stabilizing force. To prevent tether entanglement during descent and subsequent ascent through such terrain, a motion planning procedure is needed. Abad-Manterola, Nesnas, and Burdick  previously presented such a motiondoi:10.1109/icra.2013.6631375 dblp:conf/icra/TannerBN13 fatcat:2s2lmmtebfhnbfxs7xi3wsrlu4