Multi-robot systems, particularly mobile manipulators, face challenges in control coordination and dynamic stability when working together. To address this issue, this study proposes MobiDock, a modular self-reconfigurable mobile manipulator system that allows two independent robots to physically connect and form a unified mobile bimanual platform. This process helps transform a complex multi-robot control problem into the management of a simpler, single system. The system utilizes an autonomous docking strategy based on computer vision with AprilTag markers and a new threaded screw-lock mechanism. Experimental results show that the docked configuration demonstrates better performance in dynamic stability and operational efficiency compared to two independently cooperating robots. Specifically, the unified system has lower Root Mean Square (RMS) Acceleration and Jerk values, higher angular precision, and completes tasks significantly faster. These findings confirm that physical reconfiguration is a powerful design principle that simplifies cooperative control, improving stability and performance for complex tasks in real-world environments.

翻译：多机器人系统，特别是移动操作机器人，在协同工作时面临控制协调与动态稳定性的挑战。为解决这一问题，本研究提出MobiDock，一种模块化自重构移动操作机器人系统，它允许两个独立的机器人物理连接并形成一个统一的移动双臂平台。这一过程有助于将复杂的多机器人控制问题转化为对更简单的单一系统的管理。该系统采用基于计算机视觉（使用AprilTag标记）的自主对接策略和一种新型螺纹螺旋锁定机构。实验结果表明，与两个独立协作的机器人相比，对接配置在动态稳定性和操作效率方面表现出更优的性能。具体而言，统一系统具有更低的均方根（RMS）加速度和加加速度值、更高的角度精度，并且完成任务的速度显著更快。这些发现证实，物理重构是一种强大的设计原则，能够简化协同控制，提高现实环境中复杂任务的稳定性和性能。