{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,4]],"date-time":"2025-12-04T10:01:31Z","timestamp":1764842491115,"version":"build-2065373602"},"reference-count":45,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2021,6,12]],"date-time":"2021-06-12T00:00:00Z","timestamp":1623456000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100003407","name":"Ministero dell\u2019Istruzione, dell\u2019Universit\u00e0 e della Ricerca","doi-asserted-by":"publisher","award":["SEDUCE  n. 2017TWRCNB"],"award-info":[{"award-number":["SEDUCE  n. 2017TWRCNB"]}],"id":[{"id":"10.13039\/501100003407","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012306","name":"Universit\u00e0 degli Studi di Trieste","doi-asserted-by":"publisher","award":["Microgrants 2020"],"award-info":[{"award-number":["Microgrants 2020"]}],"id":[{"id":"10.13039\/501100012306","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Controlling a chain of tethered mobile robots (TMRs) can be a challenging task. This kind of system can be considered kinematically as an open-chain robotic arm where the mobile robots are considered as a revolute joint and the tether is considered as a variable length link, using a prismatic joint. Thus, the TMRs problem is decoupled into two parallel problems: the equivalent robotic manipulator control and the tether shape computation. Kinematic redundancy is exploited in order to coordinate the motion of all mobile robots forming the chain, expressing the constraints acting on the mobile robots as secondary tasks for the equivalent robotic arm. Implementation in the Gazebo simulation environment shows that the methodology is capable of controlling the chain of TMRs in cluttered environments.<\/jats:p>","DOI":"10.3390\/robotics10020081","type":"journal-article","created":{"date-parts":[[2021,6,14]],"date-time":"2021-06-14T22:26:01Z","timestamp":1623709561000},"page":"81","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["On the Modelling of Tethered Mobile Robots as Redundant Manipulators"],"prefix":"10.3390","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4586-6823","authenticated-orcid":false,"given":"Matteo","family":"Caruso","sequence":"first","affiliation":[{"name":"Department of Engineering and Architecture, University of Trieste, via A. Valerio 6\/1, 34127 Trieste, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0296-9475","authenticated-orcid":false,"given":"Paolo","family":"Gallina","sequence":"additional","affiliation":[{"name":"Department of Engineering and Architecture, University of Trieste, via A. Valerio 6\/1, 34127 Trieste, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5563-9595","authenticated-orcid":false,"given":"Stefano","family":"Seriani","sequence":"additional","affiliation":[{"name":"Department of Engineering and Architecture, University of Trieste, via A. Valerio 6\/1, 34127 Trieste, Italy"}]}],"member":"1968","published-online":{"date-parts":[[2021,6,12]]},"reference":[{"key":"ref_1","first-page":"2045","article-title":"Recent Advances and Applications of Tethered Robotic Systems","volume":"26","author":"Ajwad","year":"2014","journal-title":"Sci. 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