{"id":"https://openalex.org/W7116098692","doi":"https://doi.org/10.20965/jrm.2025.p1452","title":"Communication-Free Adaptive Swarm Robotic System: LLM-Based Decision Making and MARL-Based Multi-Policy Control","display_name":"Communication-Free Adaptive Swarm Robotic System: LLM-Based Decision Making and MARL-Based Multi-Policy Control","publication_year":2025,"publication_date":"2025-12-19","ids":{"openalex":"https://openalex.org/W7116098692","doi":"https://doi.org/10.20965/jrm.2025.p1452"},"language":"en","primary_location":{"id":"doi:10.20965/jrm.2025.p1452","is_oa":true,"landing_page_url":"https://doi.org/10.20965/jrm.2025.p1452","pdf_url":null,"source":{"id":"https://openalex.org/S2764886168","display_name":"Journal of Robotics and Mechatronics","issn_l":"0915-3942","issn":["0915-3942","1883-8049"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4324309662","host_organization_name":"Fuji Technology Press Ltd.","host_organization_lineage":["https://openalex.org/P4324309662"],"host_organization_lineage_names":["Fuji Technology Press Ltd."],"type":"journal"},"license":"cc-by-nd","license_id":"https://openalex.org/licenses/cc-by-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics and Mechatronics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://doi.org/10.20965/jrm.2025.p1452","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Takahiro Yoshida","orcid":null},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takahiro Yoshida","raw_affiliation_strings":["Department of Mechanical Engineering, Graduate School of Engineering, The University of Osaka, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Graduate School of Engineering, The University of Osaka, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"last","author":{"id":null,"display_name":"Yuichiro Sueoka","orcid":"https://orcid.org/0000-0002-5716-6365"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuichiro Sueoka","raw_affiliation_strings":["Department of Mechanical Engineering, Graduate School of Engineering, The University of Osaka, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan"],"raw_orcid":"https://orcid.org/0000-0002-5716-6365","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Graduate School of Engineering, The University of Osaka, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan","institution_ids":["https://openalex.org/I98285908"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I98285908"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.57418756,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"37","issue":"6","first_page":"1452","last_page":"1460"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.5516999959945679,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.5516999959945679,"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"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.2948000133037567,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.06759999692440033,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6764000058174133},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6513000130653381},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5654000043869019},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.5425999760627747},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.517300009727478},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.5148000121116638},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4580000042915344},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4300999939441681},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.38929998874664307}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7627000212669373},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6764000058174133},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6513000130653381},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5654000043869019},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.5425999760627747},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.517300009727478},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.5148000121116638},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47350001335144043},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4580000042915344},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4327000081539154},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4300999939441681},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.38929998874664307},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37439998984336853},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.3677999973297119},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3517000079154968},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.35010001063346863},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.33739998936653137},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.3158999979496002},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.30730000138282776},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.3052000105381012},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3012000024318695},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2989000082015991},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.2930999994277954},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.29120001196861267},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.28690001368522644},{"id":"https://openalex.org/C52970973","wikidata":"https://www.wikidata.org/wiki/Q2497134","display_name":"Adaptive system","level":2,"score":0.28220000863075256},{"id":"https://openalex.org/C506615639","wikidata":"https://www.wikidata.org/wiki/Q21662260","display_name":"Command and control","level":2,"score":0.26109999418258667}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.20965/jrm.2025.p1452","is_oa":true,"landing_page_url":"https://doi.org/10.20965/jrm.2025.p1452","pdf_url":null,"source":{"id":"https://openalex.org/S2764886168","display_name":"Journal of Robotics and Mechatronics","issn_l":"0915-3942","issn":["0915-3942","1883-8049"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4324309662","host_organization_name":"Fuji Technology Press Ltd.","host_organization_lineage":["https://openalex.org/P4324309662"],"host_organization_lineage_names":["Fuji Technology Press Ltd."],"type":"journal"},"license":"cc-by-nd","license_id":"https://openalex.org/licenses/cc-by-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics and Mechatronics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.20965/jrm.2025.p1452","is_oa":true,"landing_page_url":"https://doi.org/10.20965/jrm.2025.p1452","pdf_url":null,"source":{"id":"https://openalex.org/S2764886168","display_name":"Journal of Robotics and Mechatronics","issn_l":"0915-3942","issn":["0915-3942","1883-8049"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4324309662","host_organization_name":"Fuji Technology Press Ltd.","host_organization_lineage":["https://openalex.org/P4324309662"],"host_organization_lineage_names":["Fuji Technology Press Ltd."],"type":"journal"},"license":"cc-by-nd","license_id":"https://openalex.org/licenses/cc-by-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics and Mechatronics","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.7084314823150635,"display_name":"Climate action"}],"awards":[{"id":"https://openalex.org/G759911455","display_name":null,"funder_award_id":"JPMJPS2032","funder_id":"https://openalex.org/F4320334789","funder_display_name":"Japan Science and Technology Agency"},{"id":"https://openalex.org/G7810163376","display_name":null,"funder_award_id":"21H05104a","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"},{"id":"https://openalex.org/F4320334789","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W2149469814","https://openalex.org/W3088990421","https://openalex.org/W3165773888","https://openalex.org/W3181910883","https://openalex.org/W4205990403","https://openalex.org/W4362519817","https://openalex.org/W4386200967","https://openalex.org/W4393900588","https://openalex.org/W4405787555","https://openalex.org/W4413918502","https://openalex.org/W4415767635"],"related_works":[],"abstract_inverted_index":{"Swarm":[0],"robotic":[1,65],"systems":[2,28,84],"consist":[3],"of":[4,8,23,61,167],"a":[5,24,94,97,119,128,135,147,151,184],"large":[6,72],"number":[7],"distributed":[9],"autonomous":[10],"robots":[11,125,160],"that":[12,85,100],"coordinate":[13],"their":[14],"actions":[15],"to":[16,46,134],"accomplish":[17],"diverse":[18],"tasks":[19],"beyond":[20],"the":[21,59,140,154,168],"capabilities":[22],"single":[25],"robot.":[26],"These":[27],"have":[29,68,82],"recently":[30],"been":[31],"considered":[32],"for":[33,127],"deployment":[34],"in":[35,123,149],"disaster":[36],"scenarios,":[37],"where":[38],"communication":[39,55],"is":[40,171],"often":[41],"unstable,":[42],"making":[43],"it":[44,133],"necessary":[45],"achieve":[47],"adaptive":[48],"cooperative":[49],"behavior":[50],"without":[51,161],"relying":[52],"on":[53,180],"explicit":[54,163],"between":[56],"robots.":[57],"In":[58,89],"context":[60],"multi-robot":[62],"systems\u2014including":[63],"swarm":[64],"systems\u2014some":[66],"studies":[67],"explored":[69],"approaches":[70],"utilizing":[71],"language":[73],"models":[74],"(LLMs)":[75],"or":[76],"other":[77],"learning-based":[78],"methods,":[79],"but":[80],"few":[81],"proposed":[83,169],"enable":[86],"communication-free":[87],"coordination.":[88],"this":[90],"paper,":[91],"we":[92,142],"propose":[93],"system":[95],"incorporating":[96],"novel":[98],"method":[99,170],"combines":[101],"high-level":[102],"decision-making":[103],"via":[104],"LLM-based":[105],"policy":[106,156],"selection\u2014guided":[107],"by":[108],"questionnaire-style":[109],"prompts\u2014with":[110],"low-level":[111],"control":[112],"using":[113],"multiple":[114],"MARL-trained":[115],"policies.":[116],"We":[117],"consider":[118],"complex":[120],"task":[121,175],"scenario":[122],"which":[124,150],"search":[126],"target":[129],"object":[130],"and":[131],"transport":[132],"designated":[136],"destination.":[137],"To":[138],"evaluate":[139],"method,":[141],"define":[143],"implicit":[144,181],"consensus":[145,182],"as":[146,157,183],"condition":[148],"robot":[152],"selects":[153],"same":[155],"its":[158],"nearby":[159],"any":[162],"communication.":[164],"The":[165],"effectiveness":[166],"demonstrated":[172],"through":[173],"simulated":[174],"execution,":[176],"with":[177],"particular":[178],"emphasis":[179],"key":[185],"evaluation":[186],"metric.":[187]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-12-19T00:00:00"}