# Overview: A Hierarchical Framework for Plan Generation and Execution in Multi-Robot Systems

arXiv: https://arxiv.org/abs/1804.00038 · HTML: https://mlsanity.com/paper/1804.00038/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 30 Mar 2018.

## Built on by (most cited first, 1 of 1)

- [Graph-Based Multi-Robot Path Finding and Planning](https://mlsanity.com/paper/2206.11319/) (2022)

## Abstract (arXiv)

The authors present an overview of a hierarchical framework for coordinating task- and motion-level operations in multirobot systems. Their framework is based on the idea of using simple temporal networks to simultaneously reason about precedence/causal constraints required for task-level coordination and simple temporal constraints required to take some kinematic constraints of robots into account. In the plan-generation phase, the framework provides a computationally scalable method for generating plans that achieve high-level tasks for groups of robots and take some of their kinematic constraints into account. In the plan-execution phase, the framework provides a method for absorbing an imperfect plan execution to avoid time-consuming re-planning in many cases. The authors use the multirobot path-planning problem as a case study to present the key ideas behind their framework for the long-term autonomy of multirobot systems.