rdf-syntax-grammar
mods:
  schema location: http://www.loc.gov/mods/v3 http://www.loc.gov/standards/mods/v3/mods-3-2.xsd
  title info:
    title: Motion Planning for a Tethered Mobile Robot
  name:
    name part: Hosseiniteshnizi, Reza
    role:
      role term: creator
    role:
      role term: author.
  name:
    name part: Shell, Dylan (Dylan A.)
    role:
      role term: thesis advisor.
  name:
    name part: Texas A & M University
    role:
      role term: degree granting institution.
  type of resource: text
  genre: bibliography
  origin info:
    place:
      place term: txu
    date issued: 2015
    issuance: monographic
  language:
    language term: eng
  physical description:
    form: remote
    extent: 1 online resource.
  abstract: Recently there has been surge of research in motion planning for tethered robots. In this problem a planar robot is connected via a cable of limited length to a fixed point in R². The configuration space in this problem is more complicated than the one of a classic motion planning problem as existence of the cable causes additional constraints on the motion of the robot. In this thesis we are interested in finding a concise representation of the configuration space that results in a straightforward planning algorithm. To achieve such a representation we observe that configuration space manifold has a discrete structure that conveniently can be separated from its continuous aspect when it is represented as an atlas of charts. We provide a method for generating either the complete atlas or a subset of its charts based on special cable events. Generating parts of the configuration space on-the-fly enables the following improvements over the state-of-the-art. a) We decompose the environment into cells as needed rather than an off-line global discretization, obtaining competitive time and space complexity for our planner. b) We are able to exploit topological structure to represent robot-cable configurations concisely leading us towards solutions to the more complex problems of interest. To underscore the potential of this representation, we take further steps to generalize it to two more complicated instances of the tethered robot planning problem that has been widely disregarded in the literature. We will first consider a simplified model of cable-to-cable contacts, giving the robot the option to perform knot-like tying motions. Next, we will address the planning problem for a tethered robot whose cable has a constraint on its curvature. This adds to the realism of the model since most practical cables have some degree of stiffness which limits curvature. In this case we provide a novel technique to relate Dubins' theory of curves with work on planning with topological…
  note: by Reza Hosseiniteshnizi.
  note: "Major Subject: Computer Science"
  note: Includes vita.
  note: Master of Science Texas A & M University 2015 http://hdl.handle.net/1969.1/155694
  note: Includes bibliographical references.
  note: Text (Thesis)
  subject:
    topic: Major Computer Science
  subject:
    topic: Robotics
  subject:
    topic: Motion Planning
  subject:
    topic: Tethered Robots
  identifier: http://hdl.handle.net/1969.1/155694
  record info:
    record content source: TXA
    record creation date: 161116
    record change date: 20170926150724.0
    record identifier: in00003724566
    language of cataloging:
      language term: eng