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Full-Text Articles in Engineering
Precise Landing Of Vtol Uavs Using A Tether, Jeremy W. Rathjen
Precise Landing Of Vtol Uavs Using A Tether, Jeremy W. Rathjen
Graduate Theses, Dissertations, and Problem Reports
Unmanned Aerial Vehicles (UAVs), also known as drones, are often considered the solution to complex robotics problems. The significant freedom to explore an environment is a major reason why UAVs are a popular choice for automated solutions. UAVs, however, have a very limited flight time due to the low capacity and weight ratio of current batteries. One way to extend the vehicles' flight time is to use a tether to provide power from external batteries, generators on the ground, or another vehicle. Attaching a tether to a vehicle may constrain its navigation but it may also create some opportunities for …
Tangle-Free Exploration With A Tethered Mobile Robot, Danylo Shapovalov, Guilherme Pereira
Tangle-Free Exploration With A Tethered Mobile Robot, Danylo Shapovalov, Guilherme Pereira
Faculty & Staff Scholarship
Exploration and remote sensing with mobile robots is a well known field of research, but current solutions cannot be directly applied for tethered robots. In some applications, tethers may be very important to provide power or allow communication with the robot. This paper presents an exploration algorithm that guarantees complete exploration of arbitrary environments within the length constraint of the tether, while keeping the tether tangle-free at all times. While we also propose a generalized algorithm that can be used with several exploration strategies, our implementation uses a modified frontier-based exploration approach, where the robot chooses its next goal in …
Exploration Of Unknown Environments Using A Tethered Mobile Robot, Danylo Shapovalov
Exploration Of Unknown Environments Using A Tethered Mobile Robot, Danylo Shapovalov
Graduate Theses, Dissertations, and Problem Reports
Exploration with mobile robots is a well known field of research, but current solutions cannot be directly applied for tethered robots. In some applications, tethers may be very important to provide power or allow communication with the robot. This thesis presents an exploration algorithm that guarantees complete exploration of arbitrary environments within the length constraint of the tether, while keeping the tether tangle-free at all times. While a generalized algorithm that can be used with several exploration strategies is also proposed, the presented implementation uses a modified frontier-based exploration approach, where the robot chooses its next goal in the frontier …