ABSTRACT
The cooperation control of multiple mobile manipulators presents a signifi-
cant increase in complexity over the single mobile manipulator case. Thus far,
there are only some coordination schemes for multiple mobile manipulators in
the literature: (i) hybrid position force control by a decentralized/centralized
scheme, where the position of the object is controlled in a certain direction
of the workspace, and the internal force of the object is controlled in a small
range of the origin [68], [72], [174]; (ii) leader-follower control for a mobile
manipulator, where one or a group of mobile manipulators or robotic manip-
ulator play the role of the leader tracking a preplanned trajectory, and the
rest of the mobile manipulators form the follower group moving in conjunction
with the leader mobile manipulators [172], [75], [176].
