# Motion Planning for Multi-Mobile-Manipulator Payload Transport Systems

arXiv: https://arxiv.org/abs/1903.07758 · HTML: https://mlsanity.com/paper/1903.07758/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 18 Mar 2019.

## Built on by (most cited first, 1 of 1)

- [CHORUS: Decentralized Multi-Embodiment Collaboration with One VLA Policy](https://mlsanity.com/paper/2606.12352/) (2026)

## Abstract (arXiv)

In this paper, a kinematic motion planning algorithm for cooperative spatial payload manipulation is presented. A hierarchical approach is introduced to compute real-time collision-free motion plans for a formation of mobile manipulator robots. Initially, collision-free configurations of a deformable 2-D virtual bounding box are identified, over a planning horizon, to define a convex workspace for the entire system. Then, 3-D payload configurations whose projections lie within the defined convex workspace are computed. Finally, a convex decentralized model-predictive controller is formulated to plan collision-free trajectories for the formation of mobile manipulators. This approach facilitates real-time motion planning for the system and is scalable in the number of robots. The algorithm is validated in simulated dynamic environments. Simulation video: https://youtu.be/9EKj7RwRs_4.