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• The proposed distributed control framework achieves consensus coordination with safety guarantees using hierarchical event-triggered control barrier functions.method 95%
• The consensus-based protocol relies solely on local neighbor information to enforce both translational and rotational consistency in task space.technical 90%
• The hierarchical event-triggered safety architecture reduces online computation through risk-aware leader selection and smooth switching strategy.method 85%
• The approach achieves substantially reduced computational cost and communication frequency compared to baseline methods.result 80%
• The method enables higher precision cooperation under strict safety constraints.result 85%
• The approach was validated through real-world hardware experiments using two Franka manipulators with static obstacles.result 95%
• Comprehensive simulations demonstrate scalable multi-arm cooperation with dynamic obstacles.result 90%
• The framework addresses cooperative manipulation in varying environments with limited communication and real-time computation budgets.technical 80%

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