# Large Language Models for Multi-Robot Systems: A Survey

arXiv: https://arxiv.org/abs/2502.03814 · HTML: https://mlsanity.com/paper/2502.03814/

## Key facts

- Cited by 28 papers in the map (data through 14 Oct 2026).
- Builds on 93 of its 160 references that are in the map.
- First posted on arXiv 6 Feb 2025.

## Builds on (most cited first, 30 of 93)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [The Llama 3 Herd of Models](https://mlsanity.com/paper/2407.21783/) (2024)
- [LoRA: Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2106.09685/) (2021)
- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [Retrieval-Augmented Generation for Knowledge-Intensive NLP Tasks](https://mlsanity.com/paper/2005.11401/) (2020)
- [DeepSeek-R1: Incentivizing Reasoning Capability in LLMs via Reinforcement Learning](https://mlsanity.com/paper/2501.12948/) (2025)
- [Qwen2.5 Technical Report](https://mlsanity.com/paper/2412.15115/) (2024)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [OpenVLA: An Open-Source Vision-Language-Action Model](https://mlsanity.com/paper/2406.09246/) (2024)
- [A Survey of Large Language Models](https://mlsanity.com/paper/2303.18223/) (2023)
- [Emergent Abilities of Large Language Models](https://mlsanity.com/paper/2206.07682/) (2022)
- [Retrieval-Augmented Generation for Large Language Models: A Survey](https://mlsanity.com/paper/2312.10997/) (2023)
- [Fine-Tuning Language Models from Human Preferences](https://mlsanity.com/paper/1909.08593/) (2019)
- [A Survey on Hallucination in Large Language Models: Principles, Taxonomy, Challenges, and Open Questions](https://mlsanity.com/paper/2311.05232/) (2023)
- [Habitat: A Platform for Embodied AI Research](https://mlsanity.com/paper/1904.01201/) (2019)
- [A Survey on Multimodal Large Language Models](https://mlsanity.com/paper/2306.13549/) (2023)
- [AI2-THOR: An Interactive 3D Environment for Visual AI](https://mlsanity.com/paper/1712.05474/) (2017)
- [Open X-Embodiment: Robotic Learning Datasets and RT-X Models](https://mlsanity.com/paper/2310.08864/) (2023)
- [ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Tasks](https://mlsanity.com/paper/1912.01734/) (2019)
- [Large Language Model based Multi-Agents: A Survey of Progress and Challenges](https://mlsanity.com/paper/2402.01680/) (2024)
- [A Comprehensive Overview of Large Language Models](https://mlsanity.com/paper/2307.06435/) (2023)
- [Instruction Tuning for Large Language Models: A Survey](https://mlsanity.com/paper/2308.10792/) (2023)
- [GSM-Symbolic: Understanding the Limitations of Mathematical Reasoning in Large Language Models](https://mlsanity.com/paper/2410.05229/) (2024)
- [The Falcon Series of Open Language Models](https://mlsanity.com/paper/2311.16867/) (2023)
- [Large Language Models: A Survey](https://mlsanity.com/paper/2402.06196/) (2024)
- [Habitat 2.0: Training Home Assistants to Rearrange their Habitat](https://mlsanity.com/paper/2106.14405/) (2021)
- [TraceVLA: Visual Trace Prompting Enhances Spatial-Temporal Awareness for Generalist Robotic Policies](https://mlsanity.com/paper/2412.10345/) (2024)
- [Towards Large Reasoning Models: A Survey of Reinforced Reasoning with Large Language Models](https://mlsanity.com/paper/2501.09686/) (2025)
- [A Survey on Knowledge Distillation of Large Language Models](https://mlsanity.com/paper/2402.13116/) (2024)

## Built on by (most cited first, 28 of 28)

- [Intelligent AI Delegation](https://mlsanity.com/paper/2602.11865/) (2026)
- [Benchmarking LLMs' Swarm intelligence](https://mlsanity.com/paper/2505.04364/) (2025)
- [Multi-Agent Systems for Robotic Autonomy with LLMs](https://mlsanity.com/paper/2505.05762/) (2025)
- [REMAC: Self-Reflective and Self-Evolving Multi-Agent Collaboration for Long-Horizon Robot Manipulation](https://mlsanity.com/paper/2503.22122/) (2025)
- [CLEA: Closed-Loop Embodied Agent for Enhancing Task Execution in Dynamic Environments](https://mlsanity.com/paper/2503.00729/) (2025)
- [Beyond Formal Semantics for Capabilities and Skills: Model Context Protocol in Manufacturing](https://mlsanity.com/paper/2506.11180/) (2025)
- [ELHPlan: Efficient Long-Horizon Task Planning for Multi-Agent Collaboration](https://mlsanity.com/paper/2509.24230/) (2025)
- [Compositional Coordination for Multi-Robot Teams with Large Language Models](https://mlsanity.com/paper/2507.16068/) (2025)
- [Research on World Models Is Not Merely Injecting World Knowledge into Specific Tasks](https://mlsanity.com/paper/2602.01630/) (2026)
- [Why do AI agents communicate in human language?](https://mlsanity.com/paper/2506.02739/) (2025)
- [EmboTeam: Grounding LLM Reasoning into Reactive Behavior Trees via PDDL for Embodied Multi-Robot Collaboration](https://mlsanity.com/paper/2601.11063/) (2026)
- [RoboAct-CLIP: Video-Driven Pre-training of Atomic Action Understanding for Robotics](https://mlsanity.com/paper/2504.02069/) (2025)
- [MultiUAV-Plat: An LLM-Oriented Platform, Benchmark and Framework for Multi-UAV Collaborative Task Planning](https://mlsanity.com/paper/2606.31073/) (2026)
- [A Closed-Loop Multi-Agent Framework for Robust Multi-Robot Manipulation](https://mlsanity.com/paper/2607.06990/) (2026)
- [Safe and Economical UAV Trajectory Planning in Low-Altitude Airspace: A Hybrid DRL-LLM Approach with Compliance Awareness](https://mlsanity.com/paper/2506.08532/) (2025)
- [RobotFleet: An Open-Source Framework for Centralized Multi-Robot Task Planning](https://mlsanity.com/paper/2510.10379/) (2025)
- [Learning-based Cooperative Robotic Paper Wrapping: A Unified Control Policy with Residual Force Control](https://mlsanity.com/paper/2511.03181/) (2025)
- [A Survey on Improving Human Robot Collaboration through Vision-and-Language Navigation](https://mlsanity.com/paper/2512.00027/) (2025)
- [Cooperation Breakdown in LLM Agents Under Communication Delays](https://mlsanity.com/paper/2602.11754/) (2026)
- [Federated Single-Agent Robotics: Multi-Robot Coordination Without Intra-Robot Multi-Agent Fragmentation](https://mlsanity.com/paper/2604.11028/) (2026)
- [Verification-Gated Agentic Mission-State Governance for Intelligent Industrial Multi-Robot Systems](https://mlsanity.com/paper/2606.31339/) (2026)
- [A Glimpse into Long-term Physical Coexistence with Intelligent Robots](https://mlsanity.com/paper/2607.11377/) (2026)
- [A MARL Centered Reference Architecture for Large Language Model Augmentation in Smart Manufacturing](https://mlsanity.com/paper/2608.07148/) (2026)
- [Physical Agentic AI: An Architecture for Orchestrating a Robot Crew with LLMs](https://mlsanity.com/paper/2608.22657/) (2026)
- [Large Language Models in the Loop: A Stability- and Network-Aware Survey in Networked Control, Cyber-Physical, and Multi-Agent Systems](https://mlsanity.com/paper/2609.16599/) (2026)
- [AeroWeaver: An Embodied-Agent Harness for Weaving Aerial Skills into Distributed, Adaptive Swarm Execution](https://mlsanity.com/paper/2609.18520/) (2026)
- [Correcting WHERE, Preserving HOW: Compositional Generalization for Vision-Language-Action Models via Referential Guidance](https://mlsanity.com/paper/2609.38616/) (2026)
- [Observe, Share, or Predict? Disentangling Partner Information in Embodied Multi-Agent Collaboration](https://mlsanity.com/paper/2610.16895/) (2026)

## Abstract (arXiv)

The rapid advancement of Large Language Models (LLMs) has opened new possibilities in Multi-Robot Systems (MRS), enabling enhanced communication, task allocation and planning, and human-robot interaction. Unlike traditional single-robot and multi-agent systems, MRS poses unique challenges, including coordination, scalability, and real-world adaptability. This survey provides the first dedicated review of LLM integration into MRS. It systematically categorizes their applications across high-level task allocation, mid-level motion planning, low-level action generation, and human intervention. We highlight key applications in diverse domains, such as household robotics, construction, formation control, target tracking, and robot games, showcasing the versatility and transformative potential of LLMs in MRS. Furthermore, we examine the challenges that limit adapting LLMs to MRS, including mathematical reasoning limitations, hallucination, latency issues, and the need for robust benchmarking systems. Finally, we outline opportunities for future research, emphasizing advancements in fine-tuning, reasoning techniques, and task-specific models. This survey aims to guide researchers in the intelligence and real-world deployment of MRS powered by LLMs. Given the rapidly evolving nature of research in the field, we continuously update the paper list in the open-source GitHub repository.