The tethered robot problem.

Robot vehicles, tethered to fixed bases, move about in a common region. To perform its task, each vehicle must visit a prespecified set of locations. This paper discusses the problem of controlling the vehicles so that they do not tangle their tethers. The problem arises in connection with the small (15x15 cm) air- bearing-supported, linear-motor-driven vehicles being studied for assembly applications in Dept 11228. The tethers in this case are "umbilical cords" carrying compressed air, power and signals.