{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,7]],"date-time":"2025-10-07T00:08:15Z","timestamp":1759795695728,"version":"build-2065373602"},"reference-count":35,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2025,6,11]],"date-time":"2025-06-11T00:00:00Z","timestamp":1749600000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0"},{"start":{"date-parts":[[2025,6,11]],"date-time":"2025-06-11T00:00:00Z","timestamp":1749600000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52205521","52188102","52090054","U24A20130"],"award-info":[{"award-number":["52205521","52188102","52090054","U24A20130"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"DOI":"10.1007\/s10846-025-02272-x","type":"journal-article","created":{"date-parts":[[2025,6,11]],"date-time":"2025-06-11T03:55:28Z","timestamp":1749614128000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Event-Based Collaborative Planning and Control with Loosely-Coupled Transportation Model for Dual Mobile Manipulators"],"prefix":"10.1007","volume":"111","author":[{"given":"Dongchen","family":"Han","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0967-7179","authenticated-orcid":false,"given":"Xiangfei","family":"Li","sequence":"additional","affiliation":[]},{"given":"Huan","family":"Zhao","sequence":"additional","affiliation":[]},{"given":"Han","family":"Ding","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2025,6,11]]},"reference":[{"key":"2272_CR1","doi-asserted-by":"publisher","first-page":"104289","DOI":"10.1016\/j.robot.2022.104289","volume":"159","author":"S Liu","year":"2023","unstructured":"Liu, S., Shen, J., Tian, W., et al.: Balanced task allocation and collision-free scheduling of multi-robot systems in large spacecraft structure manufacturing. Robot. Auton. Syst. 159, 104289 (2023)","journal-title":"Robot. Auton. Syst."},{"key":"2272_CR2","doi-asserted-by":"publisher","first-page":"103021","DOI":"10.1016\/j.rcim.2025.103021","volume":"95","author":"J Zhang","year":"2025","unstructured":"Zhang, J., Zhao, H., Chen, K., et al.: Dexterous hand towards intelligent manufacturing: A review of technologies, trends, and potential applications. Robot. Comput. Integr. Manuf. 95, 103021 (2025)","journal-title":"Robot. Comput. Integr. Manuf."},{"issue":"4","key":"2272_CR3","doi-asserted-by":"publisher","first-page":"6466","DOI":"10.1109\/LRA.2021.3092305","volume":"6","author":"D Koung","year":"2021","unstructured":"Koung, D., Kermorgant, O., Fantoni, I., et al.: Cooperative multi-robot object transportation system based on hierarchical quadratic programming. IEEE Robot. Autom. Lett. 6(4), 6466\u20136472 (2021)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"2272_CR4","doi-asserted-by":"publisher","first-page":"104607","DOI":"10.1016\/j.robot.2023.104607","volume":"172","author":"TT Mac","year":"2024","unstructured":"Mac, T.T., Dat, B.Q., Sy, T.N.: A novel hedge algebra formation control for mobile robots. Robot. Auton. Syst. 172, 104607 (2024)","journal-title":"Robot. Auton. Syst."},{"key":"2272_CR5","doi-asserted-by":"publisher","first-page":"104527","DOI":"10.1016\/j.robot.2023.104527","volume":"169","author":"M Eyuboglu","year":"2023","unstructured":"Eyuboglu, M., Atali, G.: A novel collaborative path planning algorithm for 3-wheel omnidirectional Autonomous Mobile Robot. Robot. Auton. Syst. 169, 104527 (2023)","journal-title":"Robot. Auton. Syst."},{"issue":"28","key":"2272_CR6","doi-asserted-by":"publisher","first-page":"eaau8479","DOI":"10.1126\/scirobotics.aau8479","volume":"4","author":"KH Petersen","year":"2019","unstructured":"Petersen, K.H., Napp, N., Stuart-Smith, R., et al.: A review of collective robotic construction. Sci. Robot. 4(28), eaau8479 (2019)","journal-title":"Sci. Robot."},{"issue":"3","key":"2272_CR7","doi-asserted-by":"publisher","first-page":"568","DOI":"10.1002\/rob.21853","volume":"36","author":"A Branch","year":"2019","unstructured":"Branch, A., Flexas, M.M., Claus, B., et al.: Front delineation and tracking with multiple underwater vehicles. J Field Robot. 36(3), 568\u2013586 (2019)","journal-title":"J Field Robot."},{"issue":"6","key":"2272_CR8","doi-asserted-by":"publisher","first-page":"172988141666366","DOI":"10.1177\/1729881416663664","volume":"13","author":"R Almadhoun","year":"2016","unstructured":"Almadhoun, R., Taha, T., Seneviratne, L., et al.: A survey on inspecting structures using robotic systems. Int. J. Adv. Rob. Syst. 13(6), 1729881416663664 (2016)","journal-title":"Int. J. Adv. Rob. Syst."},{"key":"2272_CR9","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/j.comcom.2020.03.012","volume":"156","author":"B Mishra","year":"2020","unstructured":"Mishra, B., Garg, D., Narang, P., et al.: Drone-surveillance for search and rescue in natural disaster. Comput. Commun. 156, 1\u201310 (2020)","journal-title":"Comput. Commun."},{"key":"2272_CR10","doi-asserted-by":"publisher","first-page":"33","DOI":"10.1007\/s10846-014-0154-2","volume":"80","author":"GP Das","year":"2015","unstructured":"Das, G.P., McGinnity, T.M., Coleman, S.A., et al.: A distributed task allocation algorithm for a multi-robot system in healthcare facilities. J. Intell. Rob. Syst. 80, 33\u201358 (2015)","journal-title":"J. Intell. Rob. Syst."},{"key":"2272_CR11","doi-asserted-by":"crossref","unstructured":"Caccavale F, Uchiyama M. Cooperative manipulation. Springer handbook of robotics, 2016: 989\u20131006.","DOI":"10.1007\/978-3-319-32552-1_39"},{"issue":"7","key":"2272_CR12","doi-asserted-by":"publisher","first-page":"684","DOI":"10.1177\/02783649922066501","volume":"18","author":"O Khatib","year":"1999","unstructured":"Khatib, O., Yokoi, K., Brock, O., et al.: Robots in human environments: Basic autonomous capabilities. Int. J. Robot. Res. 18(7), 684\u2013696 (1999)","journal-title":"Int. J. Robot. Res."},{"key":"2272_CR13","doi-asserted-by":"publisher","first-page":"162","DOI":"10.1016\/j.procir.2022.02.172","volume":"106","author":"S Makris","year":"2022","unstructured":"Makris, S., Michalos, G., Kousi, N., et al.: Open-Digital-Industrial and Networking pilot lines using modular components for scalable production-ODIN project approach. Procedia CIRP 106, 162\u2013167 (2022)","journal-title":"Procedia CIRP"},{"key":"2272_CR14","doi-asserted-by":"crossref","unstructured":"Ortiz J S, Ald\u00e1s J V, Andaluz V H. Mobile manipulators for cooperative transportation of objects in common\/\/Towards Autonomous Robotic Systems: 18th Annual Conference, TAROS 2017, Guildford, UK, July 19\u201321, 2017, Springer International Publishing, 2017: 651-660","DOI":"10.1007\/978-3-319-64107-2_53"},{"key":"2272_CR15","doi-asserted-by":"crossref","unstructured":"Logothetis M, Bechlioulis C P, Kyriakopoulos K J. 2021 Decentralized impedance control of mobile robotic manipulators for collaborative object handling with a human operato. IEEE Mediterranean Conference on Control and Automation (MED): 741\u2013746.","DOI":"10.1109\/MED51440.2021.9480265"},{"issue":"1","key":"2272_CR16","doi-asserted-by":"publisher","first-page":"39","DOI":"10.1080\/02286203.2019.1670034","volume":"41","author":"B Teka","year":"2021","unstructured":"Teka, B., Dutta, A.: Modeling and simulation of cooperative transport of an object by two mobile manipulators on an uneven terrain using KSOM network. Int. J. Model. Simul. 41(1), 39\u201351 (2021)","journal-title":"Int. J. Model. Simul."},{"key":"2272_CR17","doi-asserted-by":"publisher","first-page":"103287","DOI":"10.1016\/j.robot.2019.103287","volume":"122","author":"E Simetti","year":"2019","unstructured":"Simetti, E., Casalino, G., Wanderlingh, F., et al.: A task priority approach to cooperative mobile manipulation: Theory and experiments. Robot. Auton. Syst. 122, 103287 (2019)","journal-title":"Robot. Auton. Syst."},{"issue":"4","key":"2272_CR18","doi-asserted-by":"publisher","first-page":"2894","DOI":"10.1109\/JSYST.2015.2416215","volume":"11","author":"J Jiao","year":"2015","unstructured":"Jiao, J., Cao, Z., Gu, N., et al.: Transportation by multiple mobile manipulators in unknown environments with obstacles. IEEE Syst. J. 11(4), 2894\u20132904 (2015)","journal-title":"IEEE Syst. J."},{"issue":"2","key":"2272_CR19","doi-asserted-by":"publisher","first-page":"1447","DOI":"10.1109\/JSYST.2016.2581171","volume":"12","author":"Z Cao","year":"2016","unstructured":"Cao, Z., Gu, N., Jiao, J., et al.: A novel geometric transportation approach for multiple mobile manipulators in unknown environments. IEEE Syst. J. 12(2), 1447\u20131455 (2016)","journal-title":"IEEE Syst. J."},{"key":"2272_CR20","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s11432-018-9588-0","volume":"61","author":"J Chen","year":"2018","unstructured":"Chen, J., Kai, S.: Cooperative transportation control of multiple mobile manipulators through distributed optimization. Sci China Inf. Sci. 61, 1\u201317 (2018)","journal-title":"Sci China Inf. Sci."},{"issue":"4","key":"2272_CR21","doi-asserted-by":"publisher","first-page":"1296","DOI":"10.1007\/s12555-021-0925-z","volume":"21","author":"P Xu","year":"2023","unstructured":"Xu, P., Zhang, J., Cui, Y., et al.: Modeling and Coordinated Control of Multiple Mobile Manipulators with Closed-chain Constraints. Int. J. Control Autom. Syst. 21(4), 1296\u20131308 (2023)","journal-title":"Int. J. Control Autom. Syst."},{"issue":"3\u20134","key":"2272_CR22","doi-asserted-by":"publisher","first-page":"649","DOI":"10.1007\/s10846-018-0878-5","volume":"93","author":"I Pajak","year":"2019","unstructured":"Pajak, I.: Real-time trajectory generation methods for cooperating mobile manipulators subject to state and control constraints. J. Intell. Rob. Syst. 93(3\u20134), 649\u2013668 (2019)","journal-title":"J. Intell. Rob. Syst."},{"issue":"2","key":"2272_CR23","doi-asserted-by":"publisher","first-page":"848","DOI":"10.1109\/TSMC.2022.3189007","volume":"53","author":"D Qin","year":"2022","unstructured":"Qin, D., Wu, J., Liu, A., et al.: Cooperation and coordination transportation for nonholonomic mobile manipulators: A distributed model predictive control approach. IEEE Trans Syst Man Cybern Syst 53(2), 848\u2013860 (2022)","journal-title":"IEEE Trans Syst Man Cybern Syst"},{"key":"2272_CR24","unstructured":"Zhang H, Song H, Liu W, et al. Hierarchical Motion Planning Framework for Cooperative Transportation of Multiple Mobile Manipulators. https:\/\/arxiv.org\/abs\/2208.08054, 2022."},{"key":"2272_CR25","doi-asserted-by":"publisher","first-page":"106281","DOI":"10.1016\/j.engappai.2023.106281","volume":"123","author":"P Xu","year":"2023","unstructured":"Xu, P., Cui, Y., Shen, Y., et al.: Reinforcement learning compensated coordination control of multiple mobile manipulators for tight cooperation. Eng. Appl. Artif. Intell. 123, 106281 (2023)","journal-title":"Eng. Appl. Artif. Intell."},{"key":"2272_CR26","doi-asserted-by":"crossref","unstructured":"Erhart S, Sieber D, Hirche S. An impedance-based control architecture for multi-robot cooperative dual-arm mobile manipulation. IEEE\/RSJ International Conference on Intelligent Robots and Systems, 2013: 315\u2013322.","DOI":"10.1109\/IROS.2013.6696370"},{"key":"2272_CR27","doi-asserted-by":"publisher","first-page":"2399","DOI":"10.1007\/s13369-018-3544-0","volume":"44","author":"M Rani","year":"2019","unstructured":"Rani, M., Kumar, N.: A new hybrid position\/force control scheme for coordinated multiple mobile manipulators. Arab. J. Sci. Eng. 44, 2399\u20132411 (2019)","journal-title":"Arab. J. Sci. Eng."},{"key":"2272_CR28","doi-asserted-by":"crossref","unstructured":"Tan TJ, Xi N, Bejczy AK. Motion planning in phase space for intelligent robot arm control. InProceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems 1992 Jul 7 (Vol. 3, pp. 1507-1514). IEEE.","DOI":"10.1109\/IROS.1992.594212"},{"issue":"2","key":"2272_CR29","doi-asserted-by":"publisher","first-page":"677","DOI":"10.1016\/S1474-6670(17)48813-6","volume":"26","author":"TJ Tarn","year":"1993","unstructured":"Tarn, T.J., Bejczy, A.K., Xi, N.: Intelligent motion planning and control for robot arms. IFAC Proceedings Volumes 26(2), 677\u2013680 (1993)","journal-title":"IFAC Proceedings Volumes"},{"issue":"3","key":"2272_CR30","doi-asserted-by":"publisher","first-page":"439","DOI":"10.1109\/70.499825","volume":"12","author":"N Xi","year":"1996","unstructured":"Xi, N., Tarn, T.J., Bejczy, A.K.: Intelligent planning and control for multirobot coordination: An event-based approach. IEEE Trans. Robot. Autom. 12(3), 439\u2013452 (1996)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"2272_CR31","first-page":"3145","volume":"3","author":"J Tan","year":"2001","unstructured":"Tan, J., Xi, N.: Unified model approach for planning and control of mobile manipulators. IEEE Int. Conf. Robot. Autom 3, 3145\u20133152 (2001)","journal-title":"IEEE Int. Conf. Robot. Autom"},{"key":"2272_CR32","doi-asserted-by":"crossref","unstructured":"Ye J, Ma Y, Wang S, et al. Event-based Motion Planning and Control for Mobile Manipulator. IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), 2022: 1206\u20131211.","DOI":"10.1109\/CYBER55403.2022.9907307"},{"key":"2272_CR33","doi-asserted-by":"crossref","unstructured":"Sheng Y, Ye J, Wang S, et al. Event-Potential Method for Mobile Robot Motion Planning and Control. IEEE WRC Symposium on Advanced Robotics and Automation (SARA), 2023: 444\u2013450.","DOI":"10.1109\/WRCSARA60131.2023.10261813"},{"key":"2272_CR34","doi-asserted-by":"crossref","unstructured":"Zacharias F, Borst C, Hirzinger G. Capturing robot workspace structure: representing robot capabilities. IEEE\/RSJ International Conference on Intelligent Robots and Systems, 2007: 3229\u20133236.","DOI":"10.1109\/IROS.2007.4399105"},{"issue":"1","key":"2272_CR35","doi-asserted-by":"publisher","first-page":"97","DOI":"10.1177\/027836499701600107","volume":"16","author":"H Seraji","year":"1997","unstructured":"Seraji, H., Colbaugh, R.: Force tracking in impedance control. Int. J. Robot. Res 16(1), 97\u2013117 (1997)","journal-title":"Int. J. Robot. Res"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-025-02272-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-025-02272-x\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-025-02272-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,6]],"date-time":"2025-10-06T04:13:37Z","timestamp":1759724017000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-025-02272-x"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,6,11]]},"references-count":35,"journal-issue":{"issue":"3","published-online":{"date-parts":[[2025,9]]}},"alternative-id":["2272"],"URL":"https:\/\/doi.org\/10.1007\/s10846-025-02272-x","relation":{},"ISSN":["1573-0409"],"issn-type":[{"type":"electronic","value":"1573-0409"}],"subject":[],"published":{"date-parts":[[2025,6,11]]},"assertion":[{"value":"6 January 2025","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"16 May 2025","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"11 June 2025","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"Not applicable.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics Approval"}},{"value":"Not applicable.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to Participate"}},{"value":"Not applicable.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to Publish"}},{"value":"The authors declare that there is no conflict of interest.","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}}],"article-number":"73"}}