20.500.12556/DiRROS-30103 Reactive and decoupled control of mobile manipulators via spatially modulated velocity fields Mobile manipulators enable robotic systems to operate flexibly in extended, dynamic, and unstructured environments. A key challenge in such systems is achieving coordinated and adaptive behavior between the mobile base and the manipulator without relying on global localization or predefined plans. This paper presents a reactive and fully local control strategy for mobile base based on spatially modulated velocity fields defined in the mobile base’s frame. The method enables real-time end-effector tracking across the full workspace by exploiting only the internal kinematics of the arm. Using distance- and angle-based activation thresholds, the controller generates smooth linear and angular velocity commands for mobile base that support context-aware transitions between stationary, extension, and retreat modes. Importantly, the control framework is decoupled from the manipulator, allowing compatibility with autonomous planning, teleoperation, or physical guidance. The proposed architecture is particularly well suited for dynamic and collaborative manufacturing scenarios, where mobile robots must operate safely, robustly, and without dependence on global pose estimates. Experiments with a real mobile manipulator demonstrate stable and precise behavior across diverse trajectories, confirming the suitability of the method for adaptive, robust, and autonomous robotic systems. mobile manipulators nonholonomic control reactive control velocity vector fields workspace adaptation mobilni manipulatorji prilagoditev delovnega prostora true false true IEEE Angleški jezik Slovenski jezik © 2026 The Authors. Neznano 2026-06-15 13:54:45 2026-06-15 13:54:46 2026-06-16 03:54:49 0000-00-00 00:00:00 2026 0 0 Nasl. z nasl. zaslona; Opis vira z dne 27. 5. 2026; str. 1-16 iss. Vol. 14 [in press] 2026 0000-00-00 Zaloznikova Objavljeno NiDoloceno 2026-04-14 2026-05-21 2026-05-29 007.52 2169-3536 10.1109/ACCESS.2026.3696363 279569923 https://ieeexplore.ieee.org/document/11534603 1 02c0343a-68b1-11f1-aebd-001a4af901a5 https://dirros.openscience.si/Dokument.php?lang=slv&id=45450 RAZ_Petric_Tadej_2026.pdf RAZ_Petric_Tadej_2026.pdf 1 47E1888E5E30C33F38F4A11FB4FAEB2C ae53b305f2c99007859ca58229dfca83ce45ab52ca79ba25151ced6cf9be5466 56c18c77-68b1-11f1-aebd-001a4af901a5 https://dirros.openscience.si/Dokument.php?lang=slv&id=45455 Institut Jožef Stefan 0 0 0