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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. Thendoi:10.1109/70.781966 fatcat:y4eomlepj5cjzhvr4g3nsojoxu