Braid-based entanglement-free trajectory planning for multiple tethered robots

Muqing Cao, Kun Cao, Xinhang Xu, Shenghai Yuan, Yan Loi Wong, Lihua Xie, School of Electrical and Electronic Engineering, Nanyang Technological University, Robotics Institute, Carnegie Mellon University, Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University, The Shanghai Institute of Intelligent Science and Technology, National Key Laboratory of Autonomous Intelligent Unmanned Systems, and Frontiers Science Center for Intelligent Autonomous Systems, Ministry of Education, Department of Mathematics, Faculty of Science, National University of Singapore

The International Journal of Robotics Research

Published online on December 22, 2025

Abstract

The International Journal of Robotics Research, Ahead of Print.
Path planning for multiple tethered robots is a challenging problem due to the complex interactions among the cables and the possibility of severe entanglements. Previous works on this problem either consider idealistic cable models or provide no ...