  In this paper, we address the problem of real-time motion planning for
multiple robotic manipulators that operate in close proximity. We build upon
the concept of dynamic fabrics and extend them to multi-robot systems, referred
to as Multi-Robot Dynamic Fabrics (MRDF). This geometric method enables a very
high planning frequency for high-dimensional systems at the expense of being
reactive and prone to deadlocks. To detect and resolve deadlocks, we propose
Rollout Fabrics where MRDF are forward simulated in a decentralized manner. We
validate the methods in simulated close-proximity pick-and-place scenarios with
multiple manipulators, showing high success rates and real-time performance.
