Multi-Robot Coordination with Large Language Models

We integrate the commonsense reasoning of large language models (LLMs) with structured optimization such as linear programming and dependency graphs, enabling cooperative task planning by multiple robots. The LLM decomposes natural-language tasks, while inter-robot dependencies and constraints are solved through optimization to produce feasible cooperative behaviors even under real-world constraints.

Related papers:

• Kazuma Obata, Tatsuya Aoki, Takato Horii, Tadahiro Taniguchi, Takayuki Nagai. “LiP-LLM: Integrating Linear Programming and Dependency Graph with Large Language Models for Multi-Robot Task Planning”. IEEE Robotics and Automation Letters, 10(2), 1122-1129, December 2024.