| Title: | Reactive and decoupled control of mobile manipulators via spatially modulated velocity fields |
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| Authors: | ID Petrič, Tadej, Institut "Jožef Stefan" (Author)
ID Žlajpah, Leon, Institut "Jožef Stefan" (Author) |
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| Files: |  URL - Source URL, visit https://ieeexplore.ieee.org/document/11534603
 PDF - Presentation file, download (3,44 MB)
MD5: 47E1888E5E30C33F38F4A11FB4FAEB2C
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| Language: | English |
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| Typology: | 1.01 - Original Scientific Article |
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| Organization: |  IJS - Jožef Stefan Institute
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| Abstract: | 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. |
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| Keywords: | mobile manipulators, nonholonomic control, reactive control, velocity vector fields, workspace adaptation |
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| Publication status: | Published |
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| Publication version: | Version of Record |
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| Submitted for review: | 14.04.2026 |
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| Article acceptance date: | 21.05.2026 |
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| Publication date: | 29.05.2026 |
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| Publisher: | IEEE |
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| Year of publishing: | 2026 |
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| Number of pages: | str. 1-16 |
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| Numbering: | Vol. 14, iss. |
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| PID: | 20.500.12556/DiRROS-30103  |
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| UDC: | 007.52 |
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| ISSN on article: | 2169-3536 |
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| DOI: | 10.1109/ACCESS.2026.3696363 |
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| COBISS.SI-ID: | 279569923 |
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| Copyright: | © 2026 The Authors. |
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| Note: | Nasl. z nasl. zaslona;
Opis vira z dne 27. 5. 2026;
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| Publication date in DiRROS: | 15.06.2026 |
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| Views: | 47 |
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| Downloads: | 31 |
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| Metadata: |    |
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