Computing optimal trajectories for a tethered pursuer
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866913938378063872 |
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| author | Barrera-Vicent, Aurelio Díaz-Báñez, José Miguel Rodríguez, Fabio Sánchez-Canales, Vanesa |
| author_facet | Barrera-Vicent, Aurelio Díaz-Báñez, José Miguel Rodríguez, Fabio Sánchez-Canales, Vanesa |
| contents | 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 two robots. This problem can be framed within the context of a pursuit-evasion game. Using a geometric modeling approach, we present an optimal algorithm to compute a minimum-link path for the pursuer (ground robot), given the known path of the evader (drone). Furthermore, we address and solve three related geometric optimization problems, leveraging the intrinsic connections between them. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2507_08724 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Computing optimal trajectories for a tethered pursuer Barrera-Vicent, Aurelio Díaz-Báñez, José Miguel Rodríguez, Fabio Sánchez-Canales, Vanesa Computational Geometry 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 two robots. This problem can be framed within the context of a pursuit-evasion game. Using a geometric modeling approach, we present an optimal algorithm to compute a minimum-link path for the pursuer (ground robot), given the known path of the evader (drone). Furthermore, we address and solve three related geometric optimization problems, leveraging the intrinsic connections between them. |
| title | Computing optimal trajectories for a tethered pursuer |
| topic | Computational Geometry |
| url | https://arxiv.org/abs/2507.08724 |