RobotFleet: An Open-Source Framework for Centralized Multi-Robot Task Planning
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866912644031578112 |
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| author | Gupta, Rohan Asbery, Trevor Merchant, Zain Anwar, Abrar Thomason, Jesse |
| author_facet | Gupta, Rohan Asbery, Trevor Merchant, Zain Anwar, Abrar Thomason, Jesse |
| contents | Coordinating heterogeneous robot fleets to achieve multiple goals is challenging in multi-robot systems. We introduce an open-source and extensible framework for centralized multi-robot task planning and scheduling that leverages LLMs to enable fleets of heterogeneous robots to accomplish multiple tasks. RobotFleet provides abstractions for planning, scheduling, and execution across robots deployed as containerized services to simplify fleet scaling and management. The framework maintains a shared declarative world state and two-way communication for task execution and replanning. By modularizing each layer of the autonomy stack and using LLMs for open-world reasoning, RobotFleet lowers the barrier to building scalable multi-robot systems. The code can be found here: https://github.com/therohangupta/robot-fleet. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_10379 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | RobotFleet: An Open-Source Framework for Centralized Multi-Robot Task Planning Gupta, Rohan Asbery, Trevor Merchant, Zain Anwar, Abrar Thomason, Jesse Robotics Artificial Intelligence Multiagent Systems Coordinating heterogeneous robot fleets to achieve multiple goals is challenging in multi-robot systems. We introduce an open-source and extensible framework for centralized multi-robot task planning and scheduling that leverages LLMs to enable fleets of heterogeneous robots to accomplish multiple tasks. RobotFleet provides abstractions for planning, scheduling, and execution across robots deployed as containerized services to simplify fleet scaling and management. The framework maintains a shared declarative world state and two-way communication for task execution and replanning. By modularizing each layer of the autonomy stack and using LLMs for open-world reasoning, RobotFleet lowers the barrier to building scalable multi-robot systems. The code can be found here: https://github.com/therohangupta/robot-fleet. |
| title | RobotFleet: An Open-Source Framework for Centralized Multi-Robot Task Planning |
| topic | Robotics Artificial Intelligence Multiagent Systems |
| url | https://arxiv.org/abs/2510.10379 |