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cs.CG2025
Computing optimal trajectories for a tethered pursuer
Aurelio Barrera-Vicent, José Miguel Díaz-Báñez, Fabio Rodríguez +1
In this paper, we introduce a trajectory planning problem for a marsupial robotics system consisting of a ground robot, a drone, and a taut tether of bounded length connecting the…
cs.RO2025
Efficient variable-length hanging tether parameterization for marsupial robot planning in 3D environments
S. Martínez-Rozas, D. Alejo, F. Caballero +6
This paper presents a novel approach to efficiently parameterize and estimate the state of a hanging tether for path and trajectory planning of a UGV tied to a UAV in a marsupial c…