Trajectory Tracking for Multi-Manipulator Systems in Constrained Environments
Fuente:
arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866911322396950528 |
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| author | Sewlia, Mayank Verginis, Christos K. Dimarogonas, Dimos V. |
| author_facet | Sewlia, Mayank Verginis, Christos K. Dimarogonas, Dimos V. |
| contents | We consider the problem of cooperative manipulation by a mobile multi-manipulator system operating in obstacle-cluttered and highly constrained environments under spatio-temporal task specifications. The task requires transporting a grasped object while respecting both continuous robot dynamics and discrete geometric constraints arising from obstacles and narrow passages. To address this hybrid structure, we propose a multi-rate planning and control framework that combines offline generation of an STL-satisfying object trajectory and collision-free base footprints with online constrained inverse kinematics and continuous-time feedback control. The resulting closed-loop system enables coordinated reconfiguration of multiple manipulators while tracking the desired object motion. The approach is evaluated in high-fidelity physics simulations using three Franka Emika Panda mobile manipulators rigidly grasping an object. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_14206 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Trajectory Tracking for Multi-Manipulator Systems in Constrained Environments Sewlia, Mayank Verginis, Christos K. Dimarogonas, Dimos V. Robotics Systems and Control We consider the problem of cooperative manipulation by a mobile multi-manipulator system operating in obstacle-cluttered and highly constrained environments under spatio-temporal task specifications. The task requires transporting a grasped object while respecting both continuous robot dynamics and discrete geometric constraints arising from obstacles and narrow passages. To address this hybrid structure, we propose a multi-rate planning and control framework that combines offline generation of an STL-satisfying object trajectory and collision-free base footprints with online constrained inverse kinematics and continuous-time feedback control. The resulting closed-loop system enables coordinated reconfiguration of multiple manipulators while tracking the desired object motion. The approach is evaluated in high-fidelity physics simulations using three Franka Emika Panda mobile manipulators rigidly grasping an object. |
| title | Trajectory Tracking for Multi-Manipulator Systems in Constrained Environments |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2512.14206 |