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

arXiv: https://arxiv.org/abs/2309.10062 · HTML: https://mlsanity.com/paper/2309.10062/

## 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.

## Placed in

- LLM agents and tool use / [General LLM agent frameworks and benchmarks](https://mlsanity.com/agents/general-llm-agent-frameworks-and-benchmarks/)

## Builds on (most cited first, 25 of 25)

- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [Llama 2: Open Foundation and Fine-Tuned Chat Models](https://mlsanity.com/paper/2307.09288/) (2023)
- [ReAct: Synergizing Reasoning and Acting in Language Models](https://mlsanity.com/paper/2210.03629/) (2022)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [MetaGPT: Meta Programming for A Multi-Agent Collaborative Framework](https://mlsanity.com/paper/2308.00352/) (2023)
- [Inner Monologue: Embodied Reasoning through Planning with Language Models](https://mlsanity.com/paper/2207.05608/) (2022)
- [Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents](https://mlsanity.com/paper/2201.07207/) (2022)
- [AI2-THOR: An Interactive 3D Environment for Visual AI](https://mlsanity.com/paper/1712.05474/) (2017)
- [ProgPrompt: Generating Situated Robot Task Plans using Large Language Models](https://mlsanity.com/paper/2209.11302/) (2022)
- [Multi-Agent Collaboration: Harnessing the Power of Intelligent LLM Agents](https://mlsanity.com/paper/2306.03314/) (2023)
- [ChatGPT for Robotics: Design Principles and Model Abilities](https://mlsanity.com/paper/2306.17582/) (2023)
- [Reasoning or Reciting? Exploring the Capabilities and Limitations of Language Models Through Counterfactual Tasks](https://mlsanity.com/paper/2307.02477/) (2023)
- [Text2Motion: From Natural Language Instructions to Feasible Plans](https://mlsanity.com/paper/2303.12153/) (2023)
- [TidyBot: Personalized Robot Assistance with Large Language Models](https://mlsanity.com/paper/2305.05658/) (2023)
- [Open-vocabulary Queryable Scene Representations for Real World Planning](https://mlsanity.com/paper/2209.09874/) (2022)
- [Language Models of Code are Few-Shot Commonsense Learners](https://mlsanity.com/paper/2210.07128/) (2022)
- [Instruct2Act: Mapping Multi-modality Instructions to Robotic Actions with Large Language Model](https://mlsanity.com/paper/2305.11176/) (2023)
- [BOLAA: Benchmarking and Orchestrating LLM-augmented Autonomous Agents](https://mlsanity.com/paper/2308.05960/) (2023)
- [TACO: Learning Task Decomposition via Temporal Alignment for Control](https://mlsanity.com/paper/1803.01840/) (2018)
- [Visually-Grounded Planning without Vision: Language Models Infer Detailed Plans from High-level Instructions](https://mlsanity.com/paper/2009.14259/) (2020)
- [Integrated Task Assignment and Path Planning for Capacitated Multi-Agent Pickup and Delivery](https://mlsanity.com/paper/2110.14891/) (2021)
- [proScript: Partially Ordered Scripts Generation via Pre-trained Language Models](https://mlsanity.com/paper/2104.08251/) (2021)
- [Greedy Decentralized Auction-based Task Allocation for Multi-Agent Systems](https://mlsanity.com/paper/2107.00144/) (2021)
- [Adaptive Workload Allocation for Multi-human Multi-robot Teams for Independent and Homogeneous Tasks](https://mlsanity.com/paper/2007.13897/) (2020)

## Built on by (most cited first, 30 of 153)

- [Plan-and-Act: Improving Planning of Agents for Long-Horizon Tasks](https://mlsanity.com/paper/2503.09572/) (2025)
- [A Survey on Uncertainty Quantification of Large Language Models: Taxonomy, Open Research Challenges, and Future Directions](https://mlsanity.com/paper/2412.05563/) (2024)
- [Survey on Large Language Model-Enhanced Reinforcement Learning: Concept, Taxonomy, and Methods](https://mlsanity.com/paper/2404.00282/) (2024)
- [System-Level Defense against Indirect Prompt Injection Attacks: An Information Flow Control Perspective](https://mlsanity.com/paper/2409.19091/) (2024)
- [LLM-based Multi-Agent Reinforcement Learning: Current and Future Directions](https://mlsanity.com/paper/2405.11106/) (2024)
- [MDocAgent: A Multi-Modal Multi-Agent Framework for Document Understanding](https://mlsanity.com/paper/2503.13964/) (2025)
- [SplitLoRA: A Split Parameter-Efficient Fine-Tuning Framework for Large Language Models](https://mlsanity.com/paper/2407.00952/) (2024)
- [A Survey of LLM-Driven AI Agent Communication: Protocols, Security Risks, and Defense Countermeasures](https://mlsanity.com/paper/2506.19676/) (2025)
- [SeRL: Self-Play Reinforcement Learning for Large Language Models with Limited Data](https://mlsanity.com/paper/2505.20347/) (2025)
- [Towards Efficient LLM Grounding for Embodied Multi-Agent Collaboration](https://mlsanity.com/paper/2405.14314/) (2024)
- [COHERENT: Collaboration of Heterogeneous Multi-Robot System with Large Language Models](https://mlsanity.com/paper/2409.15146/) (2024)
- [Embodied-Reasoner: Synergizing Visual Search, Reasoning, and Action for Embodied Interactive Tasks](https://mlsanity.com/paper/2503.21696/) (2025)
- [BadRobot: Jailbreaking Embodied LLM Agents in the Physical World](https://mlsanity.com/paper/2407.20242/) (2024)
- [KARMA: Augmenting Embodied AI Agents with Long-and-short Term Memory Systems](https://mlsanity.com/paper/2409.14908/) (2024)
- [Agent Design Pattern Catalogue: A Collection of Architectural Patterns for Foundation Model based Agents](https://mlsanity.com/paper/2405.10467/) (2024)
- [A Survey of Embodied Learning for Object-Centric Robotic Manipulation](https://mlsanity.com/paper/2408.11537/) (2024)
- [LLaMAR: Long-Horizon Planning for Multi-Agent Robots in Partially Observable Environments](https://mlsanity.com/paper/2407.10031/) (2024)
- [Autonomous Improvement of Instruction Following Skills via Foundation Models](https://mlsanity.com/paper/2407.20635/) (2024)
- [LaMMA-P: Generalizable Multi-Agent Long-Horizon Task Allocation and Planning with LM-Driven PDDL Planner](https://mlsanity.com/paper/2409.20560/) (2024)
- [From Language to Action: A Review of Large Language Models as Autonomous Agents and Tool Users](https://mlsanity.com/paper/2508.17281/) (2025)
- [TwoStep: Multi-agent Task Planning using Classical Planners and Large Language Models](https://mlsanity.com/paper/2403.17246/) (2024)
- [Model Swarms: Collaborative Search to Adapt LLM Experts via Swarm Intelligence](https://mlsanity.com/paper/2410.11163/) (2024)
- [Large Language Models for Multi-Robot Systems: A Survey](https://mlsanity.com/paper/2502.03814/) (2025)
- [Sample-Efficient Robust Multi-Agent Reinforcement Learning in the Face of Environmental Uncertainty](https://mlsanity.com/paper/2404.18909/) (2024)
- [LLMind: Orchestrating AI and IoT with LLM for Complex Task Execution](https://mlsanity.com/paper/2312.09007/) (2023)
- [Safety Aware Task Planning via Large Language Models in Robotics](https://mlsanity.com/paper/2503.15707/) (2025)
- [Retrieval-Augmented Code Generation: A Survey with Focus on Repository-Level Approaches](https://mlsanity.com/paper/2510.04905/) (2025)
- [Being-0: A Humanoid Robotic Agent with Vision-Language Models and Modular Skills](https://mlsanity.com/paper/2503.12533/) (2025)
- [OptimAI: Optimization from Natural Language Using LLM-Powered AI Agents](https://mlsanity.com/paper/2504.16918/) (2025)
- [A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approaches](https://mlsanity.com/paper/2404.02817/) (2024)

## 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/.