{"id":"https://openalex.org/W4416748437","doi":"https://doi.org/10.1109/iros60139.2025.11247013","title":"LLM-Driven Hierarchical Planning: Long-horizon Task Allocation for Multi-Robot Systems in Cross-Regional Environments","display_name":"LLM-Driven Hierarchical Planning: Long-horizon Task Allocation for Multi-Robot Systems in Cross-Regional Environments","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748437","doi":"https://doi.org/10.1109/iros60139.2025.11247013"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247013","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247013","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5100678715","display_name":"Yachao Wang","orcid":"https://orcid.org/0000-0003-0145-2028"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yachao Wang","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,China"],"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112123186","display_name":"Yong Dong","orcid":"https://orcid.org/0000-0003-4932-1772"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yangshuo Dong","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,China"],"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062109496","display_name":"Yunting Yang","orcid":"https://orcid.org/0009-0007-2195-622X"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunting Yang","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,China"],"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108132626","display_name":"Xiang Zhang","orcid":"https://orcid.org/0009-0006-7785-6917"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Zhang","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,China"],"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103259876","display_name":"Yinchuan Wang","orcid":"https://orcid.org/0009-0009-1465-6442"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yinchuan Wang","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,China"],"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100360663","display_name":"Yuhan Wang","orcid":"https://orcid.org/0009-0000-2878-8299"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuhan Wang","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,China"],"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100616949","display_name":"Chaoqun Wang","orcid":"https://orcid.org/0000-0001-5780-7284"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoqun Wang","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,China"],"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107772417","display_name":"Max Q.-H. Meng","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Max Q.-H. Meng","raw_affiliation_strings":["Southern University of Science and Technology,Department of Electronic and Electrical Engineering,China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Department of Electronic and Electrical Engineering,China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5100678715"],"corresponding_institution_ids":["https://openalex.org/I154099455"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.36862311,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"14140","last_page":"14147"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.4097999930381775,"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":0.4097999930381775,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.13740000128746033,"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/T11596","display_name":"Constraint Satisfaction and Optimization","score":0.11190000176429749,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.6635000109672546},{"id":"https://openalex.org/keywords/executable","display_name":"Executable","score":0.5529999732971191},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5400000214576721},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.5210999846458435},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.4431000053882599},{"id":"https://openalex.org/keywords/natural-language","display_name":"Natural language","score":0.3952000141143799},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.391400009393692},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.3901999890804291}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7684000134468079},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6635000109672546},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.5529999732971191},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5400000214576721},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.5210999846458435},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.520799994468689},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.4431000053882599},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.42179998755455017},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.3952000141143799},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.391400009393692},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.3901999890804291},{"id":"https://openalex.org/C2779439875","wikidata":"https://www.wikidata.org/wiki/Q1078276","display_name":"Natural language understanding","level":3,"score":0.3596999943256378},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.33660000562667847},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.30889999866485596},{"id":"https://openalex.org/C511192102","wikidata":"https://www.wikidata.org/wiki/Q5156948","display_name":"Comprehension","level":2,"score":0.3061999976634979},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.2831999957561493},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.27810001373291016},{"id":"https://openalex.org/C4777664","wikidata":"https://www.wikidata.org/wiki/Q1536492","display_name":"Linear temporal logic","level":2,"score":0.2648000121116638},{"id":"https://openalex.org/C2983448237","wikidata":"https://www.wikidata.org/wiki/Q1078276","display_name":"Language understanding","level":2,"score":0.26269999146461487},{"id":"https://openalex.org/C141218545","wikidata":"https://www.wikidata.org/wiki/Q7521336","display_name":"Simulation language","level":2,"score":0.26109999418258667},{"id":"https://openalex.org/C179603123","wikidata":"https://www.wikidata.org/wiki/Q1941921","display_name":"Modeling language","level":3,"score":0.2603999972343445},{"id":"https://openalex.org/C74197172","wikidata":"https://www.wikidata.org/wiki/Q1195339","display_name":"Directed acyclic graph","level":2,"score":0.2531000077724457}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247013","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247013","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1535991974","https://openalex.org/W2804655496","https://openalex.org/W3039925688","https://openalex.org/W3096656822","https://openalex.org/W3119321206","https://openalex.org/W3127942406","https://openalex.org/W3189261817","https://openalex.org/W3196798710","https://openalex.org/W4286306573","https://openalex.org/W4297493126","https://openalex.org/W4312641903","https://openalex.org/W4383108457","https://openalex.org/W4385814315","https://openalex.org/W4392517027","https://openalex.org/W4401413894","https://openalex.org/W4402508473","https://openalex.org/W4402572334","https://openalex.org/W4405429239","https://openalex.org/W4405787555","https://openalex.org/W4406038308"],"related_works":[],"abstract_inverted_index":{"Long-horizon":[0],"composite":[1,99,121],"task":[2,37,64,76,100],"planning":[3,38],"for":[4,102],"multi-robot":[5,108],"systems":[6],"in":[7,118],"cross-regional":[8,120],"complex":[9],"scenarios":[10],"faces":[11],"dual":[12],"challenges:":[13],"spatial-semantic":[14],"comprehension":[15],"of":[16,24,115],"natural":[17],"language":[18,50],"described":[19],"tasks":[20],"and":[21],"collaborative":[22],"optimization":[23],"subtask":[25],"al-location.":[26],"To":[27],"address":[28],"these":[29],"challenges,":[30],"this":[31],"paper":[32],"proposes":[33],"a":[34,67,97],"progressive":[35],"three-stage":[36],"framework.":[39],"First,":[40],"an":[41],"augmented":[42],"scene":[43],"graph":[44],"is":[45,71],"constructed":[46],"to":[47,53,73,83],"enable":[48],"large":[49],"models":[51],"(LLMs)":[52],"comprehend":[54],"environmental":[55],"structures,":[56],"thereby":[57],"generating":[58],"simplified":[59],"Linear":[60],"Temporal":[61],"Logic":[62],"(LTL)":[63],"sequences.":[65],"Subsequently,":[66],"novel":[68],"heuristic":[69],"function":[70],"employed":[72],"select":[74],"optimal":[75],"allocation":[77],"plans.":[78],"Finally,":[79],"LLMs":[80],"are":[81],"used":[82],"generate":[84],"low-level":[85],"executable":[86],"robot":[87],"instructions":[88],"based":[89],"on":[90,105],"robotic":[91],"system":[92],"instruction":[93],"templates.":[94],"We":[95],"establish":[96],"long-horizon":[98],"dataset":[101],"experimental":[103],"validation":[104],"real-world":[106],"quadrupedal":[107],"systems.":[109],"Experimental":[110],"results":[111],"demonstrate":[112],"the":[113],"effectiveness":[114],"our":[116],"approach":[117],"resolving":[119],"tasks.":[122]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}