Coordination and control of multiarm, non-holonomic mobile manipulators

The paper deals with the problem of suitably coordinating the manoeuvring of a non-holonomic vehicle and the motion of a supported manipulation system (composed by one or two arms) when the overall system is commanded to execute a given grasping or manipulation task. The objective being clearly that of suitably exploiting the extra dof's offered by the vehicle for better accomplishing the assigned task in a cooperative way.