mlsanityData to 14 Oct 2026

SMART-LLM: Smart Multi-Agent Robot Task Planning using Large Language Models

arXiv 2309.10062 ↗First posted 18 Sep 2023cs.ROcited by 153

On the map: LLM agents and tool use → General LLM agent frameworks and benchmarks

Abstract (arXiv)

In this work, we introduce SMART-LLM, an innovative framework designed for embodied multi-robot task planning. SMART-LLM: Smart Multi-Agent Robot Task Planning using Large Language Models (LLMs), harnesses the power of LLMs to convert high-level task instructions provided as input into a multi-robot task plan. It accomplishes this by executing a series of stages, including task decomposition, coalition formation, and task allocation, all guided by programmatic LLM prompts within the few-shot prompting paradigm. We create a benchmark dataset designed for validating the multi-robot task planning problem, encompassing four distinct categories of high-level instructions that vary in task complexity. Our evaluation experiments span both simulation and real-world scenarios, demonstrating that the proposed model can achieve promising results for generating multi-robot task plans. The experimental videos, code, and datasets from the work can be found at https://sites.google.com/view/smart-llm/.

Key facts. Cited by 153 papers in the map (data through 14 Oct 2026). Placed in General LLM agent frameworks and benchmarks, one of 16 directions in LLM agents and tool use. Builds on 25 of its 44 references that are in the map. First posted on arXiv 18 Sep 2023.

Builds on

25 of 44 references.

Closest ancestors · 3

Same direction, newest first

  1. 2023BOLAA: Benchmarking and Orchestrating LLM-augmented Autonomous Agents11 Aug
  2. 2023MetaGPT: Meta Programming for A Multi-Agent Collaborative Framework1 Aug
  3. 2023Multi-Agent Collaboration: Harnessing the Power of Intelligent LLM Agents5 Jun

Other references · 22

  1. 2020Language Models are Few-Shot Learnerscited by 32,419
  2. 2023GPT-4 Technical Reportcited by 18,396
  3. 2023Llama 2: Open Foundation and Fine-Tuned Chat Modelscited by 13,028
  4. 2022ReAct: Synergizing Reasoning and Acting in Language Modelscited by 8,695
  5. 2022Do As I Can, Not As I Say: Grounding Language in Robotic Affordancescited by 2,348
  6. 2022Inner Monologue: Embodied Reasoning through Planning with Language Modelscited by 1,081
  7. 2022Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agentscited by 1,035
  8. 2017AI2-THOR: An Interactive 3D Environment for Visual AIcited by 869
  9. 2022ProgPrompt: Generating Situated Robot Task Plans using Large Language Modelscited by 611
  10. 2023ChatGPT for Robotics: Design Principles and Model Abilitiescited by 299
  11. 2023Reasoning or Reciting? Exploring the Capabilities and Limitations of Language Models Through Counterfactual Taskscited by 246
  12. 2023Text2Motion: From Natural Language Instructions to Feasible Planscited by 224
10 more
  1. 2023TidyBot: Personalized Robot Assistance with Large Language Modelscited by 221
  2. 2022Open-vocabulary Queryable Scene Representations for Real World Planningcited by 160
  3. 2022Language Models of Code are Few-Shot Commonsense Learnerscited by 160
  4. 2023Instruct2Act: Mapping Multi-modality Instructions to Robotic Actions with Large Language Modelcited by 116
  5. 2018TACO: Learning Task Decomposition via Temporal Alignment for Controlcited by 62
  6. 2020Visually-Grounded Planning without Vision: Language Models Infer Detailed Plans from High-level Instructionscited by 36
  7. 2021Integrated Task Assignment and Path Planning for Capacitated Multi-Agent Pickup and Deliverycited by 30
  8. 2021proScript: Partially Ordered Scripts Generation via Pre-trained Language Modelscited by 21
  9. 2021Greedy Decentralized Auction-based Task Allocation for Multi-Agent Systemscited by 6
  10. 2020Adaptive Workload Allocation for Multi-human Multi-robot Teams for Independent and Homogeneous Taskscited by 2

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 2; 2024: 35; 2025: 70; 2026: 46.

153 papers.

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  1. 2025Plan-and-Act: Improving Planning of Agents for Long-Horizon Taskscited by 195
  2. 2024A Survey on Uncertainty Quantification of Large Language Models: Taxonomy, Open Research Challenges, and Future Directionscited by 121
  3. 2024Survey on Large Language Model-Enhanced Reinforcement Learning: Concept, Taxonomy, and Methodscited by 116
  4. 2024System-Level Defense against Indirect Prompt Injection Attacks: An Information Flow Control Perspectivecited by 96
  5. 2024LLM-based Multi-Agent Reinforcement Learning: Current and Future Directionscited by 67
  6. 2025MDocAgent: A Multi-Modal Multi-Agent Framework for Document Understandingcited by 67
  7. 2024SplitLoRA: A Split Parameter-Efficient Fine-Tuning Framework for Large Language Modelscited by 62
  8. 2025A Survey of LLM-Driven AI Agent Communication: Protocols, Security Risks, and Defense Countermeasurescited by 57
  9. 2025SeRL: Self-Play Reinforcement Learning for Large Language Models with Limited Datacited by 51
  10. 2024Towards Efficient LLM Grounding for Embodied Multi-Agent Collaborationcited by 45
  11. 2024COHERENT: Collaboration of Heterogeneous Multi-Robot System with Large Language Modelscited by 45
  12. 2025Embodied-Reasoner: Synergizing Visual Search, Reasoning, and Action for Embodied Interactive Taskscited by 44
38 more
  1. 2024BadRobot: Jailbreaking Embodied LLM Agents in the Physical Worldcited by 43
  2. 2024KARMA: Augmenting Embodied AI Agents with Long-and-short Term Memory Systemscited by 39
  3. 2024Agent Design Pattern Catalogue: A Collection of Architectural Patterns for Foundation Model based Agentscited by 35
  4. 2024A Survey of Embodied Learning for Object-Centric Robotic Manipulationcited by 35
  5. 2024LLaMAR: Long-Horizon Planning for Multi-Agent Robots in Partially Observable Environmentscited by 32
  6. 2024Autonomous Improvement of Instruction Following Skills via Foundation Modelscited by 32
  7. 2024LaMMA-P: Generalizable Multi-Agent Long-Horizon Task Allocation and Planning with LM-Driven PDDL Plannercited by 32
  8. 2025From Language to Action: A Review of Large Language Models as Autonomous Agents and Tool Userscited by 32
  9. 2024TwoStep: Multi-agent Task Planning using Classical Planners and Large Language Modelscited by 29
  10. 2024Model Swarms: Collaborative Search to Adapt LLM Experts via Swarm Intelligencecited by 27
  11. 2025Large Language Models for Multi-Robot Systems: A Surveycited by 27
  12. 2024Sample-Efficient Robust Multi-Agent Reinforcement Learning in the Face of Environmental Uncertaintycited by 25
  13. 2023LLMind: Orchestrating AI and IoT with LLM for Complex Task Executioncited by 24
  14. 2025Safety Aware Task Planning via Large Language Models in Roboticscited by 24
  15. 2025Retrieval-Augmented Code Generation: A Survey with Focus on Repository-Level Approachescited by 23
  16. 2025Being-0: A Humanoid Robotic Agent with Vision-Language Models and Modular Skillscited by 22
  17. 2025OptimAI: Optimization from Natural Language Using LLM-Powered AI Agentscited by 22
  18. 2024A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approachescited by 20
  19. 2025Towards Embodied Agentic AI: Review and Classification of LLM- and VLM-Driven Robot Autonomy and Interactioncited by 19
  20. 2024Probabilistically Correct Language-based Multi-Robot Planning using Conformal Predictioncited by 18
  21. 2025VIKI-R: Coordinating Embodied Multi-Agent Cooperation via Reinforcement Learningcited by 18
  22. 2025A Survey on Large Language Models for Automated Planningcited by 17
  23. 2025Self-Resource Allocation in Multi-Agent LLM Systemscited by 15
  24. 2023Towards Responsible Generative AI: A Reference Architecture for Designing Foundation Model based Agentscited by 14
  25. 2025Multi-Agent Systems Powered by Large Language Models: Applications in Swarm Intelligencecited by 14
  26. 2025Generative Multi-Agent Collaboration in Embodied AI: A Systematic Reviewcited by 13
  27. 2025Enhancing Multi-Agent Systems via Reinforcement Learning with LLM-based Planner and Graph-based Policycited by 12
  28. 2025Towards Transparent and Incentive-Compatible Collaboration in Decentralized LLM Multi-Agent Systems: A Blockchain-Driven Approachcited by 12
  29. 2024Improving Parallel Program Performance with LLM Optimizers via Agent-System Interfacescited by 11
  30. 2025Air-Ground Collaboration for Language-Specified Missions in Unknown Environmentscited by 11
  31. 2025Benchmarking LLMs' Swarm intelligencecited by 10
  32. 2025Distilling On-device Language Models for Robot Planning with Minimal Human Interventioncited by 10
  33. 2026The Five Ws of Multi-Agent Communication: Who Talks to Whom, When, What, and Why -- A Survey from MARL to Emergent Language and LLMscited by 10
  34. 2024Language-Conditioned Offline RL for Multi-Robot Navigationcited by 9
  35. 2024YOLO-MARL: You Only LLM Once for Multi-Agent Reinforcement Learningcited by 9
  36. 2024LADEV: A Language-Driven Testing and Evaluation Platform for Vision-Language-Action Models in Robotic Manipulationcited by 9
  37. 2025Multi-Agent Systems for Robotic Autonomy with LLMscited by 9
  38. 2025Can Agents Fix Agent Issues?cited by 9

50 most cited of 153 All 153 (JSON)

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  2. 2023RoboGPT: an intelligent agent of making embodied long-term decisions for daily instruction tasks
  3. 2026IMR-LLM: Industrial Multi-Robot Task Planning and Program Generation using Large Language Models ↗
  4. 2026EmboTeam: Grounding LLM Reasoning into Reactive Behavior Trees via PDDL for Embodied Multi-Robot Collaboration
  5. 2024Large Language Models for Robotics: Opportunities, Challenges, and Perspectives
  6. 2026From Language to Action: Can LLM-Based Agents Be Used for Embodied Robot Cognition?
  7. 2024Understanding the planning of LLM agents: A survey
  8. 2024Natural Language as Policies: Reasoning for Coordinate-Level Embodied Control with LLMs