Rajan, VAKT, Nagendran, A, Dehghani-Sanij, A et al. (1 more author) (2016) Tether monitoring for entanglement detection, disentanglement and localisation of autonomous robots. Robotica, 34 (3). pp. 527-548. ISSN 0263-5747
Abstract
Tethered mobile robots are ideal for electrically noisy environments and for time-consuming tasks that require robust data communication and uninterrupted power delivery. However, tethers may become entangled in cluttered environments, leading to immobilisation and consequent mission failure. This work addresses real-time monitoring of tethers to detect tether entanglement, perform disentanglement through tether following and localise within line of sight. Experimental hardware is proposed to implement the tether monitoring techniques. Experiments are performed for single and dual mobile robots to search a target environment and entanglement detection is shown to be successful using quantitative metrics such as mean localization error. Copyright © Cambridge University Press 2014.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2014, Cambridge University Press. This is an author produced version of a paper published in Robotica. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Catenary curves; Entanglement detection; Multi-robot systems; Robot localisation; Tethered robots |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Systems and Design (iESD) (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 09 Jun 2016 14:38 |
Last Modified: | 12 Mar 2020 15:11 |
Published Version: | http://dx.doi.org/10.1017/S0263574714001623 |
Status: | Published |
Publisher: | Cambridge University Press |
Identification Number: | 10.1017/S0263574714001623 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:90764 |