# Heterogeneous Full-body Control of a Mobile Manipulator with Behavior Trees

arXiv: https://arxiv.org/abs/2210.08600 · HTML: https://mlsanity.com/paper/2210.08600/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 16 Oct 2022.

## Built on by (most cited first, 2 of 2)

- [HARMONIC: Cognitive and Control Collaboration in Human-Robotic Teams](https://mlsanity.com/paper/2409.18047/) (2024)
- [HARMONIC: A Content-Centric Cognitive Robotic Architecture](https://mlsanity.com/paper/2509.13279/) (2025)

## Abstract (arXiv)

Integrating the heterogeneous controllers of a complex mechanical system, such as a mobile manipulator, within the same structure and in a modular way is still challenging. In this work we extend our framework based on Behavior Trees for the control of a redundant mechanical system to the problem of commanding more complex systems that involve multiple low-level controllers. This allows the integrated systems to achieve non-trivial goals that require coordination among the sub-systems.