{"id":"https://openalex.org/W4401415431","doi":"https://doi.org/10.1109/icra57147.2024.10610676","title":"Scalable Multi-Robot Collaboration with Large Language Models: Centralized or Decentralized Systems?","display_name":"Scalable Multi-Robot Collaboration with Large Language Models: Centralized or Decentralized Systems?","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415431","doi":"https://doi.org/10.1109/icra57147.2024.10610676"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610676","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610676","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5115580462","display_name":"Yongchao Chen","orcid":"https://orcid.org/0000-0001-7792-0989"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yongchao Chen","raw_affiliation_strings":["Massachusetts Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016548903","display_name":"Jacob Arkin","orcid":"https://orcid.org/0000-0002-1074-9248"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jacob Arkin","raw_affiliation_strings":["Massachusetts Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100354569","display_name":"Yang Zhang","orcid":"https://orcid.org/0000-0001-6777-3487"},"institutions":[{"id":"https://openalex.org/I1341412227","display_name":"IBM (United States)","ror":"https://ror.org/05hh8d621","country_code":"US","type":"company","lineage":["https://openalex.org/I1341412227"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yang Zhang","raw_affiliation_strings":["MIT-IBM Watson AI Lab"],"affiliations":[{"raw_affiliation_string":"MIT-IBM Watson AI Lab","institution_ids":["https://openalex.org/I1341412227"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004980809","display_name":"Nicholas Roy","orcid":"https://orcid.org/0000-0002-4277-2928"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nicholas Roy","raw_affiliation_strings":["Massachusetts Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019603699","display_name":"Chuchu Fan","orcid":"https://orcid.org/0000-0003-4671-233X"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chuchu Fan","raw_affiliation_strings":["Massachusetts Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5115580462"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":14.6796,"has_fulltext":false,"cited_by_count":59,"citation_normalized_percentile":{"value":0.99432666,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"4311","last_page":"4317"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9936000108718872,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7614761590957642},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.7462558746337891},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6435014605522156},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.576981246471405},{"id":"https://openalex.org/keywords/decentralised-system","display_name":"Decentralised system","score":0.43458735942840576},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.37353479862213135},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24840047955513},{"id":"https://openalex.org/keywords/database","display_name":"Database","score":0.18093055486679077},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0872521698474884}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7614761590957642},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.7462558746337891},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6435014605522156},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.576981246471405},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.43458735942840576},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.37353479862213135},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24840047955513},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.18093055486679077},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0872521698474884}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610676","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610676","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W1971086298","https://openalex.org/W2163171217","https://openalex.org/W3094997269","https://openalex.org/W3128256958","https://openalex.org/W3169676024","https://openalex.org/W3206072662","https://openalex.org/W4224912544","https://openalex.org/W4283785851","https://openalex.org/W4285428875","https://openalex.org/W4288594419","https://openalex.org/W4292779060","https://openalex.org/W4361021201","https://openalex.org/W4366198040","https://openalex.org/W4378509427","https://openalex.org/W4378510404","https://openalex.org/W4380993732","https://openalex.org/W4382935854","https://openalex.org/W4383097638","https://openalex.org/W4383108457","https://openalex.org/W4383473935","https://openalex.org/W4383994288","https://openalex.org/W4384644126","https://openalex.org/W4384812233","https://openalex.org/W4386320380","https://openalex.org/W4387993858","https://openalex.org/W4388660746","https://openalex.org/W4389519952","https://openalex.org/W4391876619","https://openalex.org/W4401042992","https://openalex.org/W4401414087","https://openalex.org/W4401416363","https://openalex.org/W6758846586","https://openalex.org/W6778883912","https://openalex.org/W6784833371","https://openalex.org/W6802517928","https://openalex.org/W6809509765","https://openalex.org/W6810640255","https://openalex.org/W6838865847","https://openalex.org/W6839928859","https://openalex.org/W6842594805","https://openalex.org/W6851383143","https://openalex.org/W6852170967","https://openalex.org/W6853111285","https://openalex.org/W6853300998","https://openalex.org/W6853354462","https://openalex.org/W6853664340","https://openalex.org/W6853677386","https://openalex.org/W6853859572","https://openalex.org/W6853903263","https://openalex.org/W6854738257","https://openalex.org/W7064840731"],"related_works":["https://openalex.org/W2389214306","https://openalex.org/W4235240664","https://openalex.org/W2965083567","https://openalex.org/W1982914007","https://openalex.org/W2159583675","https://openalex.org/W1824242903","https://openalex.org/W1493858311","https://openalex.org/W2155470929","https://openalex.org/W2394465510","https://openalex.org/W2111125783"],"abstract_inverted_index":{"A":[0],"flurry":[1],"of":[2,21,27,77,86,109,124,146],"recent":[3],"work":[4],"has":[5],"demonstrated":[6],"that":[7,100,150],"pre-trained":[8],"large":[9],"language":[10],"models":[11],"(LLMs)":[12],"can":[13],"be":[14],"effective":[15],"task":[16,67,118,141,156],"planners":[17],"for":[18,51,143,194],"a":[19,151],"variety":[20],"single-robot":[22],"tasks.":[23],"The":[24],"planning":[25,73,98],"performance":[26],"LLMs":[28,64],"is":[29,61,91],"significantly":[30],"improved":[31],"via":[32],"prompting":[33],"techniques,":[34],"such":[35],"as":[36,65,134],"in-context":[37],"learning":[38],"or":[39],"re-prompting":[40],"with":[41],"state":[42],"feedback,":[43],"placing":[44],"new":[45,75],"importance":[46],"on":[47],"the":[48,52,84,107,117,172,179],"token":[49,122],"budget":[50],"context":[53,87],"window.":[54],"An":[55],"under-explored":[56],"but":[57],"natural":[58],"next":[59],"direction":[60],"to":[62,94,104,136,166],"investigate":[63],"multi-robot":[66,72,110],"planners.":[68],"However,":[69],"long-horizon,":[70],"heterogeneous":[71],"introduces":[74],"challenges":[76],"coordination":[78],"while":[79],"also":[80,102],"pushing":[81],"up":[82],"against":[83],"limits":[85],"window":[88],"length.":[89],"It":[90],"therefore":[92],"critical":[93],"find":[95,149],"token-efficient":[96],"LLM":[97],"frameworks":[99,128,174],"are":[101,185],"able":[103],"reason":[105],"about":[106],"complexities":[108],"coordination.":[111],"In":[112],"this":[113],"work,":[114],"we":[115],"compare":[116],"success":[119,157],"rate":[120],"and":[121,131,163,182,197],"efficiency":[123],"four":[125,137,161],"multi-agent":[126,139],"communication":[127],"(centralized,":[129],"decentralized,":[130],"two":[132],"hybrid)":[133],"applied":[135],"coordination-dependent":[138],"2D":[140],"scenarios":[142],"increasing":[144],"numbers":[145],"agents.":[147,168],"We":[148,169],"hybrid":[152,173],"framework":[153],"achieves":[154],"better":[155,165],"rates":[158],"across":[159],"all":[160],"tasks":[162],"scales":[164],"more":[167],"further":[170],"demonstrate":[171],"in":[175],"3D":[176],"simulations":[177],"where":[178],"vision-to-text":[180],"problem":[181],"dynamical":[183],"errors":[184],"considered.":[186],"See":[187],"our":[188],"project":[189],"website":[190],"<sup":[191],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[192],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">4</sup>":[193],"prompts,":[195],"videos,":[196],"code.":[198]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":46},{"year":2024,"cited_by_count":10}],"updated_date":"2026-03-31T07:56:22.981413","created_date":"2025-10-10T00:00:00"}