Academic Journal
Braid-based entanglement-free trajectory planning for multiple tethered robots.
| Τίτλος: | Braid-based entanglement-free trajectory planning for multiple tethered robots. |
|---|---|
| Συγγραφείς: | Cao, Muqing1,2, Cao, Kun3,4, Xu, Xinhang1, Yuan, Shenghai1, Wong, Yan Loi5, Xie, Lihua1 elhxie@ntu.edu.sg |
| Πηγή: | International Journal of Robotics Research. Sep2026, Vol. 45 Issue 10, p1567-1596. 30p. |
| Θεματικοί όροι: | *Robots, *Decentralized control systems, Braid group (Knot theory), Robotic path planning, Autonomous robots, Algebraic topology |
| Περίληψη: | Path planning for multiple tethered robots is a challenging problem due to the complex interactions among the cables and the possibility of severe entanglements. Previous works on this problem either consider idealistic cable models or provide no guarantee for entanglement-free paths. This work presents a new approach to address this problem using topological braids. The dual algebraic and geometric representations of braids allow us to abstract the topological patterns from the complex spatiotemporal interactions among robots. By establishing a topological equivalence between the physical cables and the spatiotemporal trajectories of the robots, and identifying particular braid patterns that emerge from the entangled trajectories, we obtain the key finding that all complex entanglements stem from a finite number of interaction patterns between 2 or 3 robots. Hence, non-entanglement can be guaranteed by avoiding the trajectories corresponding to these interaction patterns. Based on this finding, we present a topology planning algorithm that computes a desired multi-robot path topology by searching in a graph of robot permutations and rejecting the entangling braid patterns. Then, the desired path topology serves as the high-level reference for each robot to generate non-entangling trajectories in a decentralized manner. We demonstrate that the proposed algorithm can achieve 100% goal-reaching capability without entanglement for 10 drones with a slack cable model in a high-fidelity simulation platform. The practicality of the proposed approach is verified using three small tethered drones in indoor flight experiments. [ABSTRACT FROM AUTHOR] |
| Copyright of International Journal of Robotics Research is the property of Sage Publications, Ltd. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Βάση Δεδομένων: | Business Source Index |
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| Items | – Name: Title Label: Title Group: Ti Data: Braid-based entanglement-free trajectory planning for multiple tethered robots. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Cao%2C+Muqing%22">Cao, Muqing</searchLink><relatesTo>1,2</relatesTo><br /><searchLink fieldCode="AR" term="%22Cao%2C+Kun%22">Cao, Kun</searchLink><relatesTo>3,4</relatesTo><br /><searchLink fieldCode="AR" term="%22Xu%2C+Xinhang%22">Xu, Xinhang</searchLink><relatesTo>1</relatesTo><br /><searchLink fieldCode="AR" term="%22Yuan%2C+Shenghai%22">Yuan, Shenghai</searchLink><relatesTo>1</relatesTo><br /><searchLink fieldCode="AR" term="%22Wong%2C+Yan+Loi%22">Wong, Yan Loi</searchLink><relatesTo>5</relatesTo><br /><searchLink fieldCode="AR" term="%22Xie%2C+Lihua%22">Xie, Lihua</searchLink><relatesTo>1</relatesTo><i> elhxie@ntu.edu.sg</i> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22International+Journal+of+Robotics+Research%22">International Journal of Robotics Research</searchLink>. Sep2026, Vol. 45 Issue 10, p1567-1596. 30p. – Name: Subject Label: Subject Terms Group: Su Data: *<searchLink fieldCode="DE" term="%22Robots%22">Robots</searchLink><br />*<searchLink fieldCode="DE" term="%22Decentralized+control+systems%22">Decentralized control systems</searchLink><br /><searchLink fieldCode="DE" term="%22Braid+group+%28Knot+theory%29%22">Braid group (Knot theory)</searchLink><br /><searchLink fieldCode="DE" term="%22Robotic+path+planning%22">Robotic path planning</searchLink><br /><searchLink fieldCode="DE" term="%22Autonomous+robots%22">Autonomous robots</searchLink><br /><searchLink fieldCode="DE" term="%22Algebraic+topology%22">Algebraic topology</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: Path planning for multiple tethered robots is a challenging problem due to the complex interactions among the cables and the possibility of severe entanglements. Previous works on this problem either consider idealistic cable models or provide no guarantee for entanglement-free paths. This work presents a new approach to address this problem using topological braids. The dual algebraic and geometric representations of braids allow us to abstract the topological patterns from the complex spatiotemporal interactions among robots. By establishing a topological equivalence between the physical cables and the spatiotemporal trajectories of the robots, and identifying particular braid patterns that emerge from the entangled trajectories, we obtain the key finding that all complex entanglements stem from a finite number of interaction patterns between 2 or 3 robots. Hence, non-entanglement can be guaranteed by avoiding the trajectories corresponding to these interaction patterns. Based on this finding, we present a topology planning algorithm that computes a desired multi-robot path topology by searching in a graph of robot permutations and rejecting the entangling braid patterns. Then, the desired path topology serves as the high-level reference for each robot to generate non-entangling trajectories in a decentralized manner. We demonstrate that the proposed algorithm can achieve 100% goal-reaching capability without entanglement for 10 drones with a slack cable model in a high-fidelity simulation platform. The practicality of the proposed approach is verified using three small tethered drones in indoor flight experiments. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of International Journal of Robotics Research is the property of Sage Publications, Ltd. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.1177/02783649251400382 Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 30 StartPage: 1567 Subjects: – SubjectFull: Robots Type: general – SubjectFull: Decentralized control systems Type: general – SubjectFull: Braid group (Knot theory) Type: general – SubjectFull: Robotic path planning Type: general – SubjectFull: Autonomous robots Type: general – SubjectFull: Algebraic topology Type: general Titles: – TitleFull: Braid-based entanglement-free trajectory planning for multiple tethered robots. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Cao, Muqing – PersonEntity: Name: NameFull: Cao, Kun – PersonEntity: Name: NameFull: Xu, Xinhang – PersonEntity: Name: NameFull: Yuan, Shenghai – PersonEntity: Name: NameFull: Wong, Yan Loi – PersonEntity: Name: NameFull: Xie, Lihua IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 09 Text: Sep2026 Type: published Y: 2026 Identifiers: – Type: issn-print Value: 02783649 Numbering: – Type: volume Value: 45 – Type: issue Value: 10 Titles: – TitleFull: International Journal of Robotics Research Type: main |
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