Mobile manipulators have been getting employed in industrial scenarios more often in recent years. This is due to their huge dexterity, the high amount of degree of freedom, and their ability to move freely in the working space. Having a huge redundancy makes it difficult for the planning algorithm to devise a plan, especially when multiple mobile robots are involved and their navigation is constrained. On the other hand, the robotic arm mounted on top can compensate for the navigation path following errors, but require prompt error estimation and low communication latency in the whole system.