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arXiv · 2512.14206

Trajectory Tracking for Multi-Manipulator Systems in Constrained Environments

Mayank Sewlia·Christos K. Verginis·Dimos V. Dimarogonas
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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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Mayank Sewlia, Christos K. Verginis, Dimos V. Dimarogonas. 2025-12-16. Trajectory Tracking for Multi-Manipulator Systems in Constrained Environments. https://arxiv.org/abs/2512.14206

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