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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2508.14387 |
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| _version_ | 1866912545203290112 |
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| author | Zhu, Yuxiao Chen, Junfeng Zhang, Xintong Guo, Meng Li, Zhongkui |
| author_facet | Zhu, Yuxiao Chen, Junfeng Zhang, Xintong Guo, Meng Li, Zhongkui |
| contents | Online coordination of multi-robot systems in open and unknown environments faces significant challenges, particularly when semantic features detected during operation dynamically trigger new tasks. Recent large language model (LLMs)-based approaches for scene reasoning and planning primarily focus on one-shot, end-to-end solutions in known environments, lacking both dynamic adaptation capabilities for online operation and explainability in the processes of planning. To address these issues, a novel framework (DEXTER-LLM) for dynamic task planning in unknown environments, integrates four modules: (i) a mission comprehension module that resolves partial ordering of tasks specified by natural languages or linear temporal logic formulas (LTL); (ii) an online subtask generator based on LLMs that improves the accuracy and explainability of task decomposition via multi-stage reasoning; (iii) an optimal subtask assigner and scheduler that allocates subtasks to robots via search-based optimization; and (iv) a dynamic adaptation and human-in-the-loop verification module that implements multi-rate, event-based updates for both subtasks and their assignments, to cope with new features and tasks detected online. The framework effectively combines LLMs' open-world reasoning capabilities with the optimality of model-based assignment methods, simultaneously addressing the critical issue of online adaptability and explainability. Experimental evaluations demonstrate exceptional performances, with 100% success rates across all scenarios, 160 tasks and 480 subtasks completed on average (3 times the baselines), 62% less queries to LLMs during adaptation, and superior plan quality (2 times higher) for compound tasks. Project page at https://tcxm.github.io/DEXTER-LLM/ |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2508_14387 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | DEXTER-LLM: Dynamic and Explainable Coordination of Multi-Robot Systems in Unknown Environments via Large Language Models Zhu, Yuxiao Chen, Junfeng Zhang, Xintong Guo, Meng Li, Zhongkui Robotics Online coordination of multi-robot systems in open and unknown environments faces significant challenges, particularly when semantic features detected during operation dynamically trigger new tasks. Recent large language model (LLMs)-based approaches for scene reasoning and planning primarily focus on one-shot, end-to-end solutions in known environments, lacking both dynamic adaptation capabilities for online operation and explainability in the processes of planning. To address these issues, a novel framework (DEXTER-LLM) for dynamic task planning in unknown environments, integrates four modules: (i) a mission comprehension module that resolves partial ordering of tasks specified by natural languages or linear temporal logic formulas (LTL); (ii) an online subtask generator based on LLMs that improves the accuracy and explainability of task decomposition via multi-stage reasoning; (iii) an optimal subtask assigner and scheduler that allocates subtasks to robots via search-based optimization; and (iv) a dynamic adaptation and human-in-the-loop verification module that implements multi-rate, event-based updates for both subtasks and their assignments, to cope with new features and tasks detected online. The framework effectively combines LLMs' open-world reasoning capabilities with the optimality of model-based assignment methods, simultaneously addressing the critical issue of online adaptability and explainability. Experimental evaluations demonstrate exceptional performances, with 100% success rates across all scenarios, 160 tasks and 480 subtasks completed on average (3 times the baselines), 62% less queries to LLMs during adaptation, and superior plan quality (2 times higher) for compound tasks. Project page at https://tcxm.github.io/DEXTER-LLM/ |
| title | DEXTER-LLM: Dynamic and Explainable Coordination of Multi-Robot Systems in Unknown Environments via Large Language Models |
| topic | Robotics |
| url | https://arxiv.org/abs/2508.14387 |