# MR.CAP: Multi-Robot Joint Control and Planning for Object Transport

arXiv: https://arxiv.org/abs/2401.11634 · HTML: https://mlsanity.com/paper/2401.11634/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 22 Jan 2024.

## Built on by (most cited first, 2 of 2)

- [Continual Quadruped Robots Coordination via Semantic Skill Discovery](https://mlsanity.com/paper/2606.08102/) (2026)
- [Watch, Infer, Coordinate: Inferring Robot Partner Constraints for Zero-Shot Coordination](https://mlsanity.com/paper/2610.02170/) (2026)

## Abstract (arXiv)

With the recent influx in demand for multi-robot systems throughout industry and academia, there is an increasing need for faster, robust, and generalizable path planning algorithms. Similarly, given the inherent connection between control algorithms and multi-robot path planners, there is in turn an increased demand for fast, efficient, and robust controllers. We propose a scalable joint path planning and control algorithm for multi-robot systems with constrained behaviours based on factor graph optimization. We demonstrate our algorithm on a series of hardware and simulated experiments. Our algorithm is consistently able to recover from disturbances and avoid obstacles while outperforming state-of-the-art methods in optimization time, path deviation, and inter-robot errors. See the code and supplementary video for experiments.