CoPlanVLM: Coordinated Path Planning for a Robot Team using Vision Language Models

We present CoPlanVLM, which uses a Vision Language Model (VLM) to translate a single natural-language instruction and image into coordinated paths for a team of two robots. While VLMs offer a flexible, natural-language interface for commanding robot teams, their weak spatial reasoning has greatly limited VLM-based path planning. CoPlanVLM improves the VLM's spatial reasoning and path planning abilities through three components: (1) an image overlay marking both free space and obstacles, (2) task classification that selects the most appropriate low-level planner and reasoning prompt for each instruction, and (3) task-specific chain-of-thought reasoning that prompts the VLM to identify key objects, allocate roles, and verify routes are collision-free before committing to a plan. Together, these components enable the team to complete complex coordinated maneuvers requiring both robots and divide large tasks between robots to increase efficiency. CoPlanVLM also supports detailed maneuvers involving specific routes, loops, and coverage of large areas, as well as tasks requiring directional reasoning such as north/south or left/right. We validate CoPlanVLM in both Gazebo simulation and on physical Turtlebot 4 hardware. CoPlanVLM attains an average success rate of 84.4% compared to 50.0% for the closest baseline. On trials where both methods succeed, CoPlanVLM's paths are 27% shorter on average. Project code is available at https://github.com/AICPS/CoPlanVLM.