Tethered UAV Autonomous Knotting on Environmental Structures for Transport.

ABSTRACT: Cable-driven robotic systems are widely adopted for transport tasks due to their high load-bearing efficiency. However, their deployment in unstructured or unknown environments is hindered by the challenge of rapidly and reliably anchoring the cable endpoint. This work introduces a deployable cable-driven transport system that combines a tethered unmanned aerial vehicle (UAV) with a winch mechanism to autonomously form a topologically stable entanglement for cable anchoring. At the core of the system is a modular knot planner that integrates human-in-the-loop enclosing plane extraction, frontier-based enclosing path search, and knotting trajectory generation, incorporating metrics such as enclosing planarity, tether visibility, and tether clearance. In real-world experiments conducted in a

SUBMITTER: Jin R 

PROVIDER: S-EPMC12741257 | biostudies-literature | 2025

REPOSITORIES: biostudies-literature