Exploration of unknown environments with a tethered mobile robot

Shapovalov, Danylo; Pereira, Guilherme A. S.

doi:10.1109/iros45743.2020.9340993

Cited by 5 publications

(4 citation statements)

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“…Yue Wang is the corresponding author ywang24@zju.edu.cn. tasks [7]. Yet the topological constraints introduced by the flexible tether have caused significant challenges in planning: The tethered robot may visit the same location with different tether states, regarded as different configurations.…”

Section: Introductionmentioning

confidence: 99%

Efficient Distance-Optimal Tethered Path Planning in Planar Environments: The Workspace Convexity

Yang¹,

Xiong²,

Wang³

2022

Preprint

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Section: Introductionmentioning

confidence: 99%

Efficient Distance-Optimal Tethered Path Planning in Planar Environments: The Workspace Convexity

Yang¹,

Xiong²,

Wang³

2022

Preprint

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“…Although we did not find a previous work (with the exception of our own conference paper [23]) that solves the tethered exploration problem, tethered coverage, which is a very similar problem, has been solved in [24]. The authors successfully developed an algorithm that uses a tethered robot to fully cover an arbitrary unknown environment, while also keeping the tether in a tangle-free state.…”

Section: Introductionmentioning

confidence: 99%

“…Thus, based on the author's knowledge, our previous conference paper [23] is the first one that directly addresses the tangle-free exploration problem with tethered robots. While our previous work did solve the same problem considered in the current paper, there are several key differences and improvements in this paper:…”

Section: Introductionmentioning

confidence: 99%

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Tangle-Free Exploration with a Tethered Mobile Robot

Shapovalov

Pereira

2020

Remote Sensing

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Exploration and remote sensing with mobile robots is a well known field of research, but current solutions cannot be directly applied for tethered robots. In some applications, tethers may be very important to provide power or allow communication with the robot. This paper presents an exploration algorithm that guarantees complete exploration of arbitrary environments within the length constraint of the tether, while keeping the tether tangle-free at all times. While we also propose a generalized algorithm that can be used with several exploration strategies, our implementation uses a modified frontier-based exploration approach, where the robot chooses its next goal in the frontier between explored and unexplored regions of the environment. The basic idea of the algorithm is to keep an estimate of the tether configuration, including length and homotopy, and decide the next robot path based on the difference between the current tether length and the shortest tether length at the next goal position. Our algorithm is provable correct and was tested and evaluated using both simulations and real-world experiments.

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