Skip to main content
U.S. flag

An official website of the United States government

Official websites use .gov
A .gov website belongs to an official government organization in the United States.

Secure .gov websites use HTTPS
A lock ( ) or https:// means you’ve safely connected to the .gov website. Share sensitive information only on official, secure websites.

Control Fusion for Safe Multi-robot Coordination



Roger V. Bostelman, Jeremy A. Marvel


Future smart manufacturing systems will include more complex coordination of mobile manipulators (e.g., robot arms mounted on mobile bases). The National Institute of Standards and Technology, Performance of Collaborative Robot Systems Project has been researching safety and performance control aspects of multi-robots using a mobile platform (automatic guided vehicle with an onboard manipulator). Safety standards for these independent robots mandate their failsafe control with little overlap between standards when the two systems are combined and their independent controllers have collaborative decisions to make for safe movement. This paper references and briefly discusses previously uncovered gaps between AGV and manipulator standards and detail decision sharing for when manipulators and AGVs are combined into a collaborative, mobile manipulator system. Tests using the NIST mobile manipulator with various control methods were performed and are described along with test results and plans for further, more complex tests of implicit and explicit coordination control of the mobile manipulator.
Proceedings Title
Conference Dates
May 5-9, 2014
Conference Location
Baltimore, MD


mobile manipulator, safety, safety standards, test methods, control, coordination


Bostelman, R. and Marvel, J. (2014), Control Fusion for Safe Multi-robot Coordination, SPIE-DDS, Baltimore, MD, [online], (Accessed April 17, 2024)
Created May 9, 2014, Updated February 19, 2017