{"ID":2828410,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2512.14206","arxiv_id":"2512.14206","title":"Trajectory Tracking for Multi-Manipulator Systems in Constrained Environments","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.","short_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 c...","url_abs":"https://arxiv.org/abs/2512.14206","url_pdf":"https://arxiv.org/pdf/2512.14206v1","authors":"[\"Mayank Sewlia\",\"Christos K. Verginis\",\"Dimos V. Dimarogonas\"]","published":"2025-12-16T09:01:49Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"eess.SY\"]","methods":"[]","has_code":false}