Motion Planning for Tethered Robots
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Motion Planning algorithms have been studied in many applications, such as network design and robotic motions. However, in the field of Robotics, in some settings the motion might be limited by a cable, preventing the robot from finishing its task. Existence of a cable poses new restrictions on the robot's motion. For instance, the robot has to avoid entangling the cable with obstacles or damaging the cable, while still trying to accomplish its goal. This research aims to provide hardware implementation for an algorithm introduced by Reza Teshnizi and Dylan Shell  that plans motions for a robot in such settings. The original publication has only demonstrated the algorithm in a simplistic simulation environment. An extension to this algorithm can be utilized to plan motions for a pair of robots that are connected to one another via cable of fixed length. By connecting these two robots, this imposes a new restriction on where the robots could travel because the robots have to travel together without entangling the tether. This research for the algorithm for two robots is in progress at the moment. The outcome of this project should verify the simulated results in the paper written by Shell and Teshnizi.
Phillips, Madeleine M (2020). Motion Planning for Tethered Robots. Undergraduate Research Scholars Program. Available electronically from