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Author, Editor(s)

Author(s):

Hert, Susan
Lumelsky, Vladimir

dblp
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BibTeX cite key*:

Hert1999

Title

Title*:

Motion Planning in R^3 for Multiple Tethered Robots

Journal

Journal Title*:

IEEE Transactions on Robotics and Automation

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Language:

English

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Name:


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ISSN:


Vol, No, pp, Date

Volume*:

15

Number:

4

Publishing Date:

August 1999

Pages*:

623-639

Number of
VG Pages:

17

Page Start:


Page End:


Sequence Number:


DOI:


Note, Abstract, ©

Note:


(LaTeX) Abstract:

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. Then paths for the robots are
computed assuming they move sequentially in the given order.
Two methods of computing the sequential-motion plan for the
robots are presented. The first method is computationally
simple but guarantees no bound on the path length with respect
to the optimal length; the second method guarantees nearly
optimal paths for the given ordering at the expense of additional
computation. Finally, trajectories are determined that allow the
robots to move simultaneously. The motion plan generated is
guaranteed not to result in tangled tethers. The algorithms we
present are shown to run in $O(n^4)$ time in total in the
worst case, which is less than the additional computation needed
to produce the nearly optimal paths using existing approximation
algorithms.

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MPG Unit:

Max-Planck-Institut für Informatik



MPG Subunit:

Algorithms and Complexity Group

Audience:

experts only

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BibTeX Entry:

@ARTICLE{Hert1999,
AUTHOR = {Hert, Susan and Lumelsky, Vladimir},
TITLE = {Motion Planning in R^3 for Multiple Tethered Robots},
JOURNAL = {IEEE Transactions on Robotics and Automation},
YEAR = {1999},
NUMBER = {4},
VOLUME = {15},
PAGES = {623--639},
MONTH = {August},
}


Entry last modified by Susan Hert, 03/02/2010
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Editor(s)
Susan Hert
Created
02/28/2000 07:57:31 PM
Revision
1.
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Editor
Susan Hert
Susan Hert


Edit Date
02/08/2001 10:39:08
28/02/2000 19:57:31