Trajectory Tracking for Multi-Manipulator Systems in Constrained Environments

• URL: http://arxiv.org/abs/2512.14206v1
• Date: Tue, 16 Dec 2025 09:01:49 GMT
• Title: Trajectory Tracking for Multi-Manipulator Systems in Constrained Environments
• Abstract summary: We consider the problem of cooperative manipulation by a mobile multi-manulator system operating in obstacle-cluttered environments.<n>The task requires transporting a grasped object while respecting both continuous robot dynamics and discrete geometric constraints arising from obstacles and narrow passages.<n>We propose a multi-rate planning and control framework that combines offline generation of an STL-satisfying object collision-free base footprints with online constrained inverse trajectorys and continuous-time feedback control.
• Score: 9.385066923415936
• License: http://creativecommons.org/licenses/by-nc-sa/4.0/
• Abstract: 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.

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