Tether Self Entanglement

Tether self-entanglement is a critical challenge in robotics, particularly for tethered aerial and underwater vehicles operating in complex environments. Current research focuses on developing robust models and algorithms, such as model predictive control and virtual elastic tether approaches, to predict and prevent entanglement, often incorporating vision-based systems and innovative tether management strategies like perching mechanisms. Addressing this issue is crucial for improving the safety and reliability of tethered robots in various applications, including environmental monitoring, underwater exploration, and disaster response, where entanglement can lead to mission failure or equipment damage.