# KGLAMP: Knowledge Graph-guided Language model for Adaptive Multi-robot Planning and Replanning

arXiv: https://arxiv.org/abs/2602.04129 · HTML: https://mlsanity.com/paper/2602.04129/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 35 of its 45 references that are in the map.
- First posted on arXiv 4 Feb 2026.

## Builds on (most cited first, 30 of 35)

- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [AI2-THOR: An Interactive 3D Environment for Visual AI](https://mlsanity.com/paper/1712.05474/) (2017)
- [Large Language Models](https://mlsanity.com/paper/2307.05782/) (2023)
- [Phi-4 Technical Report](https://mlsanity.com/paper/2412.08905/) (2024)
- [LLM+P: Empowering Large Language Models with Optimal Planning Proficiency](https://mlsanity.com/paper/2304.11477/) (2023)
- [Robots That Ask For Help: Uncertainty Alignment for Large Language Model Planners](https://mlsanity.com/paper/2307.01928/) (2023)
- [SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning](https://mlsanity.com/paper/2307.06135/) (2023)
- [Leveraging Pre-trained Large Language Models to Construct and Utilize World Models for Model-based Task Planning](https://mlsanity.com/paper/2305.14909/) (2023)
- [Plan-and-Act: Improving Planning of Agents for Long-Horizon Tasks](https://mlsanity.com/paper/2503.09572/) (2025)
- [SMART-LLM: Smart Multi-Agent Robot Task Planning using Large Language Models](https://mlsanity.com/paper/2309.10062/) (2023)
- [Optimus-1: Hybrid Multimodal Memory Empowered Agents Excel in Long-Horizon Tasks](https://mlsanity.com/paper/2408.03615/) (2024)
- [RAP: Retrieval-Augmented Planning with Contextual Memory for Multimodal LLM Agents](https://mlsanity.com/paper/2402.03610/) (2024)
- [ReMEmbR: Building and Reasoning Over Long-Horizon Spatio-Temporal Memory for Robot Navigation](https://mlsanity.com/paper/2409.13682/) (2024)
- [COHERENT: Collaboration of Heterogeneous Multi-Robot System with Large Language Models](https://mlsanity.com/paper/2409.15146/) (2024)
- [KARMA: Augmenting Embodied AI Agents with Long-and-short Term Memory Systems](https://mlsanity.com/paper/2409.14908/) (2024)
- [Graph-enhanced Large Language Models in Asynchronous Plan Reasoning](https://mlsanity.com/paper/2402.02805/) (2024)
- [Skill Reinforcement Learning and Planning for Open-World Long-Horizon Tasks](https://mlsanity.com/paper/2303.16563/) (2023)
- [LaMMA-P: Generalizable Multi-Agent Long-Horizon Task Allocation and Planning with LM-Driven PDDL Planner](https://mlsanity.com/paper/2409.20560/) (2024)
- [Large Language Model as a Policy Teacher for Training Reinforcement Learning Agents](https://mlsanity.com/paper/2311.13373/) (2023)
- [TwoStep: Multi-agent Task Planning using Classical Planners and Large Language Models](https://mlsanity.com/paper/2403.17246/) (2024)
- [Robot Behavior-Tree-Based Task Generation with Large Language Models](https://mlsanity.com/paper/2302.12927/) (2023)
- [Multi-Robot Coordination and Layout Design for Automated Warehousing](https://mlsanity.com/paper/2305.06436/) (2023)
- [GFlowVLM: Enhancing Multi-step Reasoning in Vision-Language Models with Generative Flow Networks](https://mlsanity.com/paper/2503.06514/) (2025)
- [Learning STRIPS Action Models with Classical Planning](https://mlsanity.com/paper/1903.01153/) (2019)
- [Generalized Mission Planning for Heterogeneous Multi-Robot Teams via LLM-constructed Hierarchical Trees](https://mlsanity.com/paper/2501.16539/) (2025)
- [Hierarchical Planning for Complex Tasks with Knowledge Graph-RAG and Symbolic Verification](https://mlsanity.com/paper/2504.04578/) (2025)
- [Multi-Robot Task Planning under Individual and Collaborative Temporal Logic Specifications](https://mlsanity.com/paper/2108.11597/) (2021)
- [NovelGym: A Flexible Ecosystem for Hybrid Planning and Learning Agents Designed for Open Worlds](https://mlsanity.com/paper/2401.03546/) (2024)
- [Towards Scalable & Efficient Interaction-Aware Planning in Autonomous Vehicles using Knowledge Distillation](https://mlsanity.com/paper/2404.01746/) (2024)
- [Graph-Grounded LLMs: Leveraging Graphical Function Calling to Minimize LLM Hallucinations](https://mlsanity.com/paper/2503.10941/) (2025)

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

- [Scale-Plan: Scalable Language-Enabled Task Planning for Heterogeneous Multi-Robot Teams](https://mlsanity.com/paper/2603.08814/) (2026)
- [Structured LLM Reasoning for Zero-Shot Human--Robot Coordination Under Hidden Goals](https://mlsanity.com/paper/2608.04309/) (2026)

## Abstract (arXiv)

Heterogeneous multi-robot systems are increasingly used in long-horizon missions requiring coordinated planning across diverse capabilities. However, existing planning approaches struggle to construct accurate symbolic representations and maintain plan consistency in dynamic environments. Classical PDDL planners require manually crafted symbolic models, while LLM-based planners often ignore agent heterogeneity and environmental uncertainty. We introduce KGLAMP, a knowledge-graph-guided LLM planning framework for heterogeneous multi-robot teams. The framework maintains a structured knowledge graph encoding object relations, spatial reachability, and robot capabilities, which guides the LLM in generating accurate PDDL problem specifications. The knowledge graph serves as a persistent, dynamically updated memory that incorporates new observations and triggers replanning upon detecting inconsistencies, enabling symbolic plans to adapt to evolving world states. Experiments on the MAT-THOR benchmark show that KGLAMP improves performance by at least 25.3% over both LLM-only and PDDL-based variants.