Shortest path planning for a tethered robot

摘要

We consider the problem of finding the shortest path for a tethered robot in a planar environment with polygonal obstacles of n total vertices. The robot is attached to an anchor point by a tether of finite length. The robot can cross the tether; he., the tether can be self-intersecting. Neither the robot nor the tether may enter the interior of any obstacle. The initial tether configuration is given as a polyline of k vertices.