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What are the key factors to consider when designing a motion planning algorithm for a UAV with a tether?

Motion planning

Unmanned ground vehicle

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When designing a motion planning algorithm for a UAV with a tether, several key factors must be considered. These include optimizing trajectory planning for a marsupial robotic system with a non-taut tether to ensure synchronized collision-free paths for the UAV, UGV, and tether . Additionally, the concept of multiple UAVs on a shared tether (MUST) introduces increased flexibility through probabilistic path-planning algorithms and a model for interactions among tether weight, size, and power . Improving traditional RRT algorithms by considering UAV dynamic constraints, generating alternative nodes, and applying B-spline curve smoothing enhances planning speed and route quality, ensuring high flightability . Furthermore, minimizing flight energy consumption in dynamic jamming environments involves formulating an energy consumption minimization problem and utilizing a communication-flight-corridor-based initial path generation method for reliable trajectory optimization . These factors collectively contribute to efficient and obstacle-free trajectory planning for UAVs with tethers.

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Open access•Proceedings Article•DOI Optimization-based Trajectory Planning for Tethered Aerial Robots S. Martinez-Rozas, D. Alejo, Fernando Caballero, Luis Merino - Show less +3 more 30 May 2021 4 Citations	Key factors include UAV, UGV, and tether positions, obstacle avoidance, temporal constraints, robot limitations, and untensed tether state. The optimization-based method ensures collision-free and smooth trajectories.
Open access•Journal Article•DOI Motion Planning in UAV-Aided Data Collection with Dynamic Jamming Binbin Wu, Bangning Zhang, Wenfeng Ma, Chen Xie, Daoxing Guo, Hao Jiang - Show less +5 more 13 Apr 2023-Electronics	Not addressed in the paper.
Proceedings Article•DOI UAV path planning algorithm based on improved RRT Yu Liu, Zi-lv Gu, Cheng Li, Bao-guo Wang, Henglin Wu, Wen-Jing Liu - Show less +5 more 22 Feb 2023	Key factors include selecting nodes based on distance to target, considering UAV dynamic constraints for waypoint expansion, generating alternative nodes, and applying B-spline curve smoothing for improved route quality.
Open access•Posted Content•DOI Path and trajectory planning of a tethered UAV-UGV marsupial robotic system 29 Apr 2023	Key factors include collision-free path planning for UAV and UGV, considering 3D environment and tether, and optimizing trajectories with temporal constraints, velocities, accelerations, and tether clearance.

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