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arXiv · 2507.16068

Compositional Coordination for Multi-Robot Teams with Large Language Models

Zhehui Huang·Guangyao Shi·Yuwei Wu·Vijay Kumar·Gaurav S. Sukhatme
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Abstract

Multi-robot coordination has traditionally relied on a mission-specific and expert-driven pipeline, where natural language mission descriptions are manually translated by domain experts into mathematical formulation, algorithm design, and executable code. This conventional process is labor-intensive, inaccessible to non-experts, and inflexible to changes in mission requirements. Here, we propose LAN2CB (Language to Collective Behavior), a novel framework that leverages large language models (LLMs) to streamline and generalize the multi-robot coordination pipeline. LAN2CB transforms natural language (NL) mission descriptions into executable Python code for multi-robot systems through two core modules: (1) Mission Analysis, which parses mission descriptions into behavior trees, and (2) Code Generation, which leverages the behavior tree and a structured knowledge base to generate robot control code. We further introduce a dataset of natural language mission descriptions to support development and benchmarking. Experiments in both simulation and real-world environments demonstrate that LAN2CB enables robust and flexible multi-robot coordination from natural language, significantly reducing manual engineering effort and supporting broad generalization across diverse mission types. Website: https://sites.google.com/view/lan-cb

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Zhehui Huang, Guangyao Shi, Yuwei Wu, Vijay Kumar, Gaurav S. Sukhatme. 2025-10-22. Compositional Coordination for Multi-Robot Teams with Large Language Models. https://arxiv.org/abs/2507.16068

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