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.
@article{arxiv.2512.14206,
title = {Trajectory Tracking for Multi-Manipulator Systems in Constrained Environments},
author = {Mayank Sewlia and Christos K. Verginis and Dimos V. Dimarogonas},
journal= {arXiv preprint arXiv:2512.14206},
year = {2025}
}