mlsanityData to 7 Oct 2026

Generalized Mission Planning for Heterogeneous Multi-Robot Teams via LLM-constructed Hierarchical Trees

arXiv 2501.16539 ↗First posted 27 Jan 2025cs.RO cs.AI cs.MAcited by 9

Not on the map. Why?

Abstract (arXiv)

We present a novel mission-planning strategy for heterogeneous multi-robot teams, taking into account the specific constraints and capabilities of each robot. Our approach employs hierarchical trees to systematically break down complex missions into manageable sub-tasks. We develop specialized APIs and tools, which are utilized by Large Language Models (LLMs) to efficiently construct these hierarchical trees. Once the hierarchical tree is generated, it is further decomposed to create optimized schedules for each robot, ensuring adherence to their individual constraints and capabilities. We demonstrate the effectiveness of our framework through detailed examples covering a wide range of missions, showcasing its flexibility and scalability.

Key facts. Cited by 9 papers in the map (data through 7 Oct 2026). Builds on 15 of its 40 references that are in the map. First posted on arXiv 27 Jan 2025.

Builds on

15 of 40 references.

References · 15

  1. 2023GPT-4 Technical Reportcited by 18,132
  2. 2023LLaMA: Open and Efficient Foundation Language Modelscited by 13,958
  3. 2022Chain-of-Thought Prompting Elicits Reasoning in Large Language Modelscited by 12,302
  4. 2022Self-Consistency Improves Chain of Thought Reasoning in Language Modelscited by 5,601
  5. 2020Fine-Tuning Pretrained Language Models: Weight Initializations, Data Orders, and Early Stoppingcited by 377
  6. 2022Generalization in Cooperative Multi-Agent Systemscited by 18
  7. 2017Sequential Bayesian Optimisation as a POMDP for Environment Monitoring with UAVscited by 7
  8. 2020Towards Safer Self-Driving Through Great PAIN (Physically Adversarial Intelligent Networks)cited by 6
  9. 2017Cooperative Multi-Agent Planning: A Surveycited by 5
  10. 2023Interaction-Aware Trajectory Planning for Autonomous Vehicles with Analytic Integration of Neural Networks into Model Predictive Controlcited by 5
  11. 2023Multi-Robot Cooperative Navigation in Crowds: A Game-Theoretic Learning-Based Model Predictive Control Approachcited by 5
  12. 2024Towards Scalable & Efficient Interaction-Aware Planning in Autonomous Vehicles using Knowledge Distillationcited by 4
3 more
  1. 2019Incentivizing Collaboration in Heterogeneous Teams via Common-Pool Resource Gamescited by 3
  2. 2023Social Navigation in Crowded Environments with Model Predictive Control and Deep Learning-Based Human Trajectory Predictioncited by 2
  3. 2021Distributed Mission Planning of Complex Tasks for Heterogeneous Multi-Robot Teamscited by 1

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2025: 5; 2026: 4.

9 papers.

  1. 2025Large Language Models for Multi-Robot Systems: A Surveycited by 26
  2. 2025GFlowVLM: Enhancing Multi-step Reasoning in Vision-Language Models with Generative Flow Networkscited by 15
  3. 2025Graph-Grounded LLMs: Leveraging Graphical Function Calling to Minimize LLM Hallucinationscited by 4
  4. 2025From Virtual Agents to Robot Teams: A Multi-Robot Framework Evaluation in High-Stakes Healthcare Contextcited by 3
  5. 2025Heterogeneous Robot Collaboration in Unstructured Environments with Grounded Generative Intelligencecited by 3
  6. 2026KGLAMP: Knowledge Graph-guided Language model for Adaptive Multi-robot Planning and Replanningcited by 2
  7. 2026Scale-Plan: Scalable Language-Enabled Task Planning for Heterogeneous Multi-Robot Teamscited by 1
  8. 2026Co-GLANCE: Uncertainty-Aware Active Perception for Heterogeneous Robot Teamingcited by 0
  9. 2026Model-Based Reinforcement Learning for Heterogeneous Multi-Robot Task Assignment Under Distribution Shiftscited by 0