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.

翻译：本文研究了在时空任务规范约束下，移动多机械臂系统在障碍物密集且高度受限环境中进行协同操作的问题。该任务要求在运输抓取物体的同时，满足机器人连续动力学特性以及由障碍物和狭窄通道产生的离散几何约束。为处理此类混合结构，我们提出一种多速率规划与控制框架，该框架将离线生成满足信号时序逻辑（STL）的物体轨迹与无碰撞基座轨迹，同在线约束逆运动学及连续时间反馈控制相结合。所构建的闭环系统能够在跟踪目标物体运动的同时，实现多机械臂的协调重构。该方法通过三个Franka Emika Panda移动机械臂刚性抓取物体的高保真物理仿真进行了验证。