{"id":"https://openalex.org/W4415337950","doi":"https://doi.org/10.1007/s10015-026-01123-8","title":"Multi-robot task planning for multi-object retrieval tasks with distributed on-site knowledge via large language models","display_name":"Multi-robot task planning for multi-object retrieval tasks with distributed on-site knowledge via large language models","publication_year":2026,"publication_date":"2026-04-27","ids":{"openalex":"https://openalex.org/W4415337950","doi":"https://doi.org/10.1007/s10015-026-01123-8"},"language":"en","primary_location":{"id":"doi:10.1007/s10015-026-01123-8","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10015-026-01123-8","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10015-026-01123-8.pdf","source":{"id":"https://openalex.org/S104439334","display_name":"Artificial Life and Robotics","issn_l":"1433-5298","issn":["1433-5298","1614-7456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Artificial Life and Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10015-026-01123-8.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Kento Murata","orcid":null},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kento Murata","raw_affiliation_strings":["Graduate School of Information Science and Engineering, Ritsumeikan University, Osaka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Engineering, Ritsumeikan University, Osaka, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062559370","display_name":"Shoichi Hasegawa","orcid":"https://orcid.org/0000-0001-5525-2924"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shoichi Hasegawa","raw_affiliation_strings":["Graduate School of Information Science and Engineering, Ritsumeikan University, Osaka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Engineering, Ritsumeikan University, Osaka, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007266263","display_name":"Tomochika Ishikawa","orcid":null},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomochika Ishikawa","raw_affiliation_strings":["Graduate School of Information Science and Engineering, Ritsumeikan University, Osaka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Engineering, Ritsumeikan University, Osaka, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064096346","display_name":"Yoshinobu Hagiwara","orcid":"https://orcid.org/0009-0006-1208-3159"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]},{"id":"https://openalex.org/I4210088637","display_name":"Soka University","ror":"https://ror.org/003qdfg20","country_code":"JP","type":"education","lineage":["https://openalex.org/I4210088637"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshinobu Hagiwara","raw_affiliation_strings":["Faculty of Science and Engineering, Soka University, Tokyo, Japan","Research Organization of Science and Technology, Ritsumeikan University, Shiga, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Science and Engineering, Soka University, Tokyo, Japan","institution_ids":["https://openalex.org/I4210088637"]},{"raw_affiliation_string":"Research Organization of Science and Technology, Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075101437","display_name":"Akira Taniguchi","orcid":"https://orcid.org/0000-0003-0678-1103"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]},{"id":"https://openalex.org/I207014233","display_name":"Kyushu Institute of Technology","ror":"https://ror.org/02278tr80","country_code":"JP","type":"education","lineage":["https://openalex.org/I207014233"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Akira Taniguchi","raw_affiliation_strings":["College of Information Science and Engineering, Ritsumeikan University, Osaka, Japan","Faculty of Computer Science and Systems Engineering, Kyushu Institute of Technology, Fukuoka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Ritsumeikan University, Osaka, Japan","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"Faculty of Computer Science and Systems Engineering, Kyushu Institute of Technology, Fukuoka, Japan","institution_ids":["https://openalex.org/I207014233"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017527511","display_name":"Lotfi El Hafi","orcid":"https://orcid.org/0000-0001-9795-6153"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Lotfi El Hafi","raw_affiliation_strings":["Research Organization of Science and Technology, Ritsumeikan University, Shiga, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Organization of Science and Technology, Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023160093","display_name":"Tadahiro Taniguchi","orcid":"https://orcid.org/0000-0002-5682-2076"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]},{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]},{"id":"https://openalex.org/I39012071","display_name":"Kyoto College of Graduate Studies for Informatics","ror":"https://ror.org/05mzj8a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I39012071"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tadahiro Taniguchi","raw_affiliation_strings":["Graduate School of Informatics, Kyoto University, Kyoto, Japan","Research Organization of Science and Technology, Ritsumeikan University, Shiga, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Informatics, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I39012071","https://openalex.org/I22299242"]},{"raw_affiliation_string":"Research Organization of Science and Technology, Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I135768898"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":{"value":2390,"currency":"EUR","value_usd":2990},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.00764364,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"31","issue":"2","first_page":"418","last_page":"432"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9426000118255615,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9426000118255615,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10028","display_name":"Topic Modeling","score":0.9318000078201294,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10181","display_name":"Natural Language Processing Techniques","score":0.9283000230789185,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7689999938011169},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.6136999726295471},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5741000175476074},{"id":"https://openalex.org/keywords/natural-language","display_name":"Natural language","score":0.4970000088214874},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4607999920845032},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.45500001311302185}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8129000067710876},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7689999938011169},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.6136999726295471},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5741000175476074},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5575000047683716},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.4970000088214874},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.47679999470710754},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4607999920845032},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.45500001311302185},{"id":"https://openalex.org/C145804949","wikidata":"https://www.wikidata.org/wiki/Q478123","display_name":"Situation awareness","level":2,"score":0.42649999260902405},{"id":"https://openalex.org/C2983448237","wikidata":"https://www.wikidata.org/wiki/Q1078276","display_name":"Language understanding","level":2,"score":0.3808000087738037},{"id":"https://openalex.org/C2779439875","wikidata":"https://www.wikidata.org/wiki/Q1078276","display_name":"Natural language understanding","level":3,"score":0.3662000000476837},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.33160001039505005},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.3109000027179718},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.30730000138282776},{"id":"https://openalex.org/C9114305","wikidata":"https://www.wikidata.org/wiki/Q1428317","display_name":"Situational ethics","level":2,"score":0.2867000102996826}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1007/s10015-026-01123-8","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10015-026-01123-8","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10015-026-01123-8.pdf","source":{"id":"https://openalex.org/S104439334","display_name":"Artificial Life and Robotics","issn_l":"1433-5298","issn":["1433-5298","1614-7456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Artificial Life and Robotics","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2509.12838","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2509.12838","pdf_url":"https://arxiv.org/pdf/2509.12838","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2509.12838","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2509.12838","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.1007/s10015-026-01123-8","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10015-026-01123-8","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10015-026-01123-8.pdf","source":{"id":"https://openalex.org/S104439334","display_name":"Artificial Life and Robotics","issn_l":"1433-5298","issn":["1433-5298","1614-7456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Artificial Life and Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3056003011","display_name":null,"funder_award_id":"JPMJMS2011","funder_id":"https://openalex.org/F4320338247","funder_display_name":"Moonshot Research and Development Program"},{"id":"https://openalex.org/G3903484084","display_name":null,"funder_award_id":"JPMJSP2101","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G3913015289","display_name":null,"funder_award_id":"JP25K15292","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G8486193240","display_name":null,"funder_award_id":"JP23K16975","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320323289","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03"},{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"},{"id":"https://openalex.org/F4320338247","display_name":"Moonshot Research and Development Program","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4415337950.pdf","grobid_xml":"https://content.openalex.org/works/W4415337950.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Abstract":[0],"It":[1],"is":[2],"crucial":[3],"to":[4,46,70,104,112,125],"efficiently":[5],"execute":[6],"instructions":[7,106,176],"such":[8,177],"as":[9,178],"\u201cFind":[10],"an":[11],"apple":[12],"and":[13,109,132,151,193],"a":[14,20,50,85,117,182],"banana.\u201d":[15],"or":[16,29],"\u201cGet":[17,179],"ready":[18,180],"for":[19,26,181],"field":[21,183],"trip,\u201d":[22],"which":[23,41,47],"require":[24],"searching":[25],"multiple":[27,113],"objects":[28,128],"understanding":[30],"context-dependent":[31],"commands.":[32],"This":[33],"study":[34],"addresses":[35],"the":[36,67,73,141,199,205],"challenging":[37],"problem":[38],"of":[39,49,202],"determining":[40],"robot":[42,54],"should":[43],"be":[44],"assigned":[45],"part":[48],"task":[51,188],"when":[52],"each":[53],"possesses":[55],"different":[56],"situational":[57],"on-site":[58],"knowledge,":[59],"specifically,":[60],"room-wise":[61,77],"object":[62,78],"presence":[63,79],"probabilities":[64,80],"learned":[65],"from":[66,129],"area":[68],"designated":[69],"it":[71],"by":[72,185],"user.":[74],"We":[75,115],"infer":[76,126],"via":[81],"Bayesian":[82],"inference":[83,90],"using":[84,160],"spatial":[86],"concept":[87],"model.":[88],"The":[89,165],"results":[91,166],"are":[92],"then":[93],"converted":[94],"into":[95,107,135],"prompts.":[96],"Large":[97],"language":[98],"models":[99],"(LLMs)":[100],"use":[101],"these":[102],"prompts":[103,203],"decompose":[105,133],"tasks":[108],"assign":[110],"them":[111,134],"robots.":[114],"designed":[116],"novel":[118],"few-shot":[119],"prompting":[120],"strategy":[121],"that":[122,168],"enables":[123],"LLMs":[124],"required":[127],"ambiguous":[130],"commands":[131],"appropriate":[136],"subtasks.":[137],"In":[138],"our":[139,169],"experiments,":[140],"proposed":[142],"method":[143],"achieved":[144],"47/50":[145],"successful":[146],"assignments,":[147],"outperforming":[148],"random":[149],"(28/50)":[150],"commonsense-based":[152],"assignment":[153],"(26/50).":[154],"Furthermore,":[155],"we":[156,197],"conducted":[157],"qualitative":[158],"evaluations":[159],"two":[161],"actual":[162],"mobile":[163],"manipulators.":[164],"demonstrated":[167],"framework":[170],"could":[171],"handle":[172],"instructions,":[173],"including":[174],"underspecified":[175],"trip.\u201d,":[184],"successfully":[186],"performing":[187],"decomposition,":[189],"assignment,":[190],"sequential":[191],"planning,":[192],"execution.":[194],"For":[195],"reproducibility,":[196],"release":[198],"full":[200],"set":[201],"on":[204],"project":[206],"website":[207],"at":[208],"https://kentomurata0610.github.io/multi-robot-task-planning":[209],".":[210]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-19T00:00:00"}
