{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,22]],"date-time":"2025-12-22T12:53:21Z","timestamp":1766408001609},"reference-count":27,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2014,7,3]],"date-time":"2014-07-03T00:00:00Z","timestamp":1404345600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2016,3]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Tethered mobile robots are ideal for electrically noisy environments and for time-consuming tasks that require robust data communication and uninterrupted power delivery. However, tethers may become entangled in cluttered environments, leading to immobilisation and consequent mission failure. This work addresses real-time monitoring of tethers to detect tether entanglement, perform disentanglement through tether following and localise within line of sight. Experimental hardware is proposed to implement the tether monitoring techniques. Experiments are performed for single and dual mobile robots to search a target environment and entanglement detection is shown to be successful using quantitative metrics such as mean localization error.<\/jats:p>","DOI":"10.1017\/s0263574714001623","type":"journal-article","created":{"date-parts":[[2014,7,3]],"date-time":"2014-07-03T13:09:53Z","timestamp":1404392993000},"page":"527-548","source":"Crossref","is-referenced-by-count":11,"title":["Tether monitoring for entanglement detection, disentanglement and localisation of autonomous robots"],"prefix":"10.1017","volume":"34","author":[{"given":"Vishnu Arun Kumar Thumatty","family":"Rajan","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Arjun","family":"Nagendran","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Abbas","family":"Dehghani-Sanij","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Robert C.","family":"Richardson","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2014,7,3]]},"reference":[{"key":"S0263574714001623_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1997.614283"},{"key":"S0263574714001623_ref23","first-page":"143","volume-title":"Proceedings of Fourth International Conference on Informatics in Control, Automation and Robotics (ICINCO)","author":"Vishnu Arun Kumar","year":"2007"},{"key":"S0263574714001623_ref27","doi-asserted-by":"crossref","unstructured":"P. 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Hirose , \u201cA New Flexible Component for Field Robotic System,\u201d Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 3 (Apr. 24\u201328, 2000) pp. 2583\u20132588.","DOI":"10.1109\/ROBOT.2000.846417"},{"key":"S0263574714001623_ref8","first-page":"1315","volume-title":"Proceedings of the IEEE International Conference on Fuzzy Systems","author":"Berenji","year":"1995"},{"key":"S0263574714001623_ref15","first-page":"3112","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Nagatani","year":"2003"},{"key":"S0263574714001623_ref5","first-page":"228","volume-title":"Proceedings of the IEEE International Symposium on Robot and Human interactive Communication (RO-MAN)","author":"Sangik","year":"2007"},{"key":"S0263574714001623_ref9","first-page":"1834","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Mori","year":"2000"},{"key":"S0263574714001623_ref11","volume-title":"Proceedings of the IEEE International Workshop on Safety, Security and Rescue Robotics","author":"Yang","year":"2009"},{"key":"S0263574714001623_ref13","first-page":"689","volume-title":"Proceedings of the 10th International Conference on Control, Automation, Robotics and Vision, 2008, ICARCV 2008","author":"Iqbal","year":"2008"},{"key":"S0263574714001623_ref19","doi-asserted-by":"publisher","DOI":"10.1016\/S0004-3702(01)00069-8"},{"key":"S0263574714001623_ref12","first-page":"623","volume-title":"Proceedings of the IEEE Transactions on Robotics and Automation","author":"Hert","year":"1999"},{"key":"S0263574714001623_ref24","first-page":"2109","volume-title":"Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Vishnu Arun Kumar","year":"2008"},{"key":"S0263574714001623_ref10","first-page":"3482","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Perrin","year":"2004"},{"key":"S0263574714001623_ref7","first-page":"987","volume-title":"Proceedings of the IEEE Congress on Evolutionary Computation","author":"Chen","year":"2007"},{"key":"S0263574714001623_ref6","first-page":"340","volume-title":"Proceedings of the International Joint Conference SICE-ICASE","author":"Kwan-Hoon","year":"2006"},{"key":"S0263574714001623_ref22","first-page":"757","volume-title":"Proceedings of the Riding the Crest into the 21st Century OCEANS","author":"Buckham","year":"1999"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574714001623","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,19]],"date-time":"2019-04-19T21:02:53Z","timestamp":1555707773000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574714001623\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,7,3]]},"references-count":27,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2016,3]]}},"alternative-id":["S0263574714001623"],"URL":"https:\/\/doi.org\/10.1017\/s0263574714001623","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,7,3]]}}}