{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/physical-simulation-of-marsupial-uav-ugv","title":"Physical simulation of Marsupial UAV-UGV Systems Connected by a Variable-Length Hanging Tether","arxiv_id":"2412.12776","date":"2024-12-17","proceeding":null,"authors":["Jose Enrique Maese","Fernando Caballero","Luis Merino"],"abstract":"This paper presents a simulation framework able of modeling the dynamics of a hanging tether with adjustable length, connecting a UAV to a UGV. The model incorporates the interaction between the UAV, UGV, and a winch, allowing for dynamic tether adjustments based on the relative motion of the robots. The accuracy and reliability of the simulator are assessed through extensive experiments, including comparisons with real-world experiment, to evaluate its ability to reproduce the complex tether dynamics observed in physical deployments. The results demonstrate that the simulation closely aligns with real-world behavior, particularly in constrained environments where tether effects are significant. This work provides a validated tool for studying tethered robotic systems, offering valuable insights into their motion dynamics and control strategies.","url_abs":"https://arxiv.org/abs/2412.12776v2","url_pdf":"https://arxiv.org/pdf/2412.12776v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"physical-simulation-of-marsupial-uav-ugv","repo_url":"https://github.com/robotics-upo/marsupial_simulator_ros2","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}