English
 
Help Privacy Policy Disclaimer
  Advanced SearchBrowse

Item

ITEM ACTIONSEXPORT
 
 
DownloadE-Mail
 Local TagsRelease HistoryDetailsSummary
  Motion Planning in R3 for Multiple Tethered Robots

Hert, S., & Lumelsky, V. (1999). Motion Planning in R3 for Multiple Tethered Robots. IEEE Transactions on Robotics and Automation, 15(4), 623-639.

Item is

 

show all hide all

Basic

show hide
Item Permalink: https://hdl.handle.net/11858/00-001M-0000-000F-35E1-1 Version Permalink: https://hdl.handle.net/11858/00-001M-0000-000F-35E2-0
Genre: Journal Article

Files

show Files

Locators

show

Creators

show
hide
 Creators:
Hert, Susan1, Author           
Lumelsky, Vladimir, Author
Affiliations:
1Algorithms and Complexity, MPI for Informatics, Max Planck Society, ou_24019              

Content

show
hide
Free keywords: -
 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.

Details

show
hide
Language(s): eng - English
 Dates: 2010-03-021999
 Publication Status: Issued
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Type: Peer
 Identifiers: eDoc: 518048
Other: Local-ID: C1256428004B93B8-736F78BCBD590173C1256893006824AE-Hert1999
 Degree: -

Event

show

Legal Case

show

Project information

show

Source 1

show
hide
Title: IEEE Transactions on Robotics and Automation
Source Genre: Journal
 Creator(s):
Affiliations:
Publ. Info: -
Pages: - Volume / Issue: 15 (4) Sequence Number: - Start / End Page: 623 - 639 Identifier: -