Multi-Agent Planning

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Overview

Multi-Agent Planning studies how multiple robots, vehicles, software agents, or people can coordinate actions to meet shared or competing goals. Methods include search and optimization for task assignment and pathfinding, decentralized planning with communication, reinforcement learning and world models, game-theoretic planning, and language-model agents organized into roles and workflows. Work is evaluated in settings such as warehouse routing, robot navigation, autonomous driving, games, and long-horizon computer-use tasks, with measures of success, safety, efficiency, and coordination. A central challenge is balancing scalability and responsiveness with reliable coordination under partial information, changing conditions, and limited communication, while preserving formal guarantees where needed.

Latest papers

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121 papers20 papers in the last four weeks, up 233% on the four weeks before. 0.1% of all new papers.

  1. Fixed-Haven Reservation for Online Multi-Agent Pickup and Delivery in Dense Warehouses

    Aug 27, 2026Taisei Hirayama, Kohei Yoshida, Hiroki Sakaji +1Warehouse AutomationMulti-Agent Planning

    Hokkaido University, Sapporo 060-0808, Japan · Toyota Industries Corporation, Aichi 474-8601, Japan

  2. GenCoord: Executable Commitments for Embodied LLM Agents under Private Information

    Aug 22, 2026Junning Zhu, Peng He, Haohan Yuan +1Multi-Agent CoordinationMulti-Agent Planning

    Beijing Normal-Hong Kong Baptist University · Tsinghua University · University of North Carolina at Charlotte +1

  3. Collective Counterfactual Planning: Coordination, Consent, and Verification under Representational Constraints

    Aug 18, 2026Chainarong AmornbunchornvejMulti-Agent CoordinationMulti-Agent Planning

    National Electronics and Computer Technology Center (NECTEC), NSTDA Pathum Thani, Thailand

  4. A Theoretical Framework for Parallel Lifelong MAPF Using Group Decentralized Planning

    Aug 18, 2026Alex DeWeese, Jiaoyang Li, Guannan QuMulti-Agent Path FindingMulti-Agent Planning

    Department of Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, US · Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, US

  5. The Curious Case of Exploding DecPOMDPs: Containing the Fire through Policy Counting

    Aug 18, 2026Nazlı Nur Karabulut, Tanya BraunPartially Observable Markov Decision ProcessesMulti-Agent Systems

    Computer Science Department, University of Münster, Münster, Germany

  6. An Actionable Diagnosis of Multilingual, Multi-Agent Planning Failures

    Aug 4, 2026Vikas Pahuja, Jonathan Brokman, Omer Hofman +6LLM PlanningMulti-Agent Planning

    Fujitsu Research of Europe · Cohere · Fujitsu Research

  7. A Forward-Inverse Dynamic Game Framework for Enhanced Multi-Agent Trajectory Planning

    Aug 3, 2026Tianle Liu, Youcheng Niu, Jing Zeng +2KL-Regularized RLGame Theory

    College of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China

  8. AdvPlan-Bench: Adversarial Evaluation of Structured Plan-Generation Agents

    Aug 1, 2026Alina Kapanova, Arun Kanhai, Natan Vidra +1AI Agent BenchmarksSynthetic Benchmark Generation

    Anote AI · Cornell University · CUNY +1

  9. SeekBrain: An Autonomous Multi-Agent System for Accelerating Neuroscience Discovery

    Jul 31, 2026Jiamin Wu, Peishan Xiang, Jingyang Chen +26Autonomous Scientific DiscoveryMultimodal Agents

    Shanghai Artificial Intelligence Laboratory · The Chinese University of Hong Kong · State Key Laboratory of Brain Cognition and Brain-Inspired Intelligence Technology, Center for Excellence in Brain Science and Intelligence Technology, Chinese Academy of Sciences +3

  10. Partner Capability Estimation for Task-Agnostic Adaptation in Ad-Hoc Teamwork

    Jul 29, 2026Peter Tisnikar, Maja Swieczkowska, Benteng Ma +2Bayesian InferenceAd Hoc Teamwork

    aDepartment of Informatics, King’s College London, 30 Aldwych, London, WC2B 4BG, England, United Kingdom · bDepartment of Engineering Science, University of Oxford, Parks Road, Oxford, OX1 3PJ, England, United Kingdom

  11. Multi-Agent Planning with Spatio-Temporal and Topological Constraints using STL-GO

    Jul 29, 2026Sheryl Paul, Vidisha Kudalkar, Anand Balakrishnan +3Constrained Motion PlanningCombinatorial Optimization

    University of Southern California, Los Angeles, CA, USA · University of Texas at Austin, Austin, TX, USA · ETH Zurich, Zurich, Switzerland +1

  12. Semi-Decentralized Multi-Spacecraft Collision Avoidance under Communication Constraints

    Jul 29, 2026Grace Ra Kim, Mahdi Al-Husseini, Duncan Eddy +1Collision AvoidancePartially Observable Markov Decision Processes

    PhD Candidate, Aeronautics and Astronautics, Stanford University, 496 Lomita Mall, Stanford, CA 94305 · Post-Doctoral Researcher, Aeronautics and Astronautics, Stanford University, 496 Lomita Mall, Stanford, CA 94305 · Professor, Aeronautics and Astronautics, Stanford University, 496 Lomita Mall, Stanford, CA 94305

  13. SGTP: Sampling-based Game-Theoretic Planning for Real-Time Multi-Vehicle Autonomous Racing

    Jul 28, 2026Zhouheng Li, Fangguo Zhao, Mattia Piccinini +6Autonomous RacingSafe Motion Planning

    Zhejiang University, Hangzhou, China. · Technical University of Munich, Garching, Germany. · Nanyang Technological University, Singapore.

  14. Courteous Anticipation: Improving Long-Lived Task Planning in Persistent Shared Environments

    Jul 22, 2026Md Ridwan Hossain Talukder, Roshan Dhakal, Elizabeth Phillips +1Long-Horizon PlanningRobot Task Planning

    Department of Computer Science, George Mason University, Fairfax, VA, USA · Department of Psychology, George Mason University, Fairfax, VA, USA

  15. Remote ID Spoofing-Aware Trajectory Planning for Small Unmanned Aerial Systems

    Jul 22, 2026Jeremiah Webb, Bryce Bjorkman, Abel Diaz Gonzalez +7Collision AvoidanceUAV Navigation

    Vanderbilt University, Nashville, TN, USA · The University of Texas at Austin, Austin, TX, USA

  16. Lifelong Multi-Subsystem Pickup and Delivery with Buffer-Limited Handover Stations

    Jul 20, 2026Chuanlong Zang, Isabelle Barz, Anna Mannucci +3Multi-Agent CoordinationMulti-Robot Systems

    1Robert Bosch GmbH, Corporate Research, Stuttgart, Germany. · 2Technical University of Berlin, Berlin, Germany. · 3Robotics Institute Germany (RIG).

  17. RELIC: Revealed Principles for Learning Interpretable Composable Skills in Multi-Agent Planning

    Jul 18, 2026Nguyen Viet Tuan Kiet, Bui Dinh Pham, Duong Quoc Chinh +3Multi-Agent CoordinationLLM Agent Skill Learning

    Hanoi University of Science and Techonology, Hanoi, Vietnam · University of Sydney, Sydney, Australia

  18. Stigmergic Graph Memory: An Environment-Aware Approach for Many-to-Many Multi-Agent Pickup and Delivery

    Jul 16, 2026Aditya Dutta, Joon-Seok KimMulti-Agent CoordinationGraph-Based Agent Memory

    Emory University 201 Dowman Drive Atlanta, GA 30322 USA

  19. A Hybrid Sampling-Based Trajectory Planner with Game-Theoretic Guidance for Autonomous Racing

    Jul 15, 2026Alexander Langmann, Frederico Pita de Araujo, Mattia Piccinini +1Autonomous RacingMotion Planning

    Professorship of Autonomous Vehicle Systems, TUM School of Engineering and Design, Technical University of Munich, 85748 Garching, Germany; Munich Institute of Robotics and Machine Intelligence (MIRMI)

  20. A Multi-Agent Framework for Zero-Dimensional Reduced-Order Model Planning

    Jul 13, 2026Bingteng Sun, Hao Yin, Yiling Chen +9Combinatorial OptimizationReduced-Order Modeling

    Advanced Gas Turbine Laboratory, Institute of Engineering Thermophysics, Chinese Academy of Sciences, Beijing, 100190, China. · National Key Laboratory of Science and Technology on Advanced Light-duty Gas-turbine, Beijing, 100190, China. · School of Computer Science and Technology, Shandong University, 72 Binhai Road, Qingdao, 266237, Shandong Province, China. +3

  21. World Models as Adversaries: Multi-Agent Self-Play Fine-Tuning for Robust Motion Planning

    Jul 12, 2026Tong Nie, Yuewen Mei, Junlin He +3Adversarial TrainingSelf-Play RL

    The Hong Kong Polytechnic University · Tongji University · McGill University +1

  22. Mosaic: Runtime-Efficient Multi-Agent Embodied Planning

    Jul 10, 2026Kunjal Panchal, Saayan Mitra, Sunav Choudhary +3Multi-Agent CoordinationLarge Language Model-Based Robot Planning

    College of Information and Computer Sciences, University of Massachusetts, Amherst · Adobe, San Jose

  23. Offline Nash Solvers Meet Online Tree Search in Multi-Agent Games on Graphs

    Jul 9, 2026Mukesh Kumar, Yue Guan, Panagiotis TsiotrasNash EquilibriumTree Search

    School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA

  24. GaP: A Graph-as-Policy Multi-Agent Self-Learning Harness For Variational Automation Tasks

    Jul 6, 2026Kaiyuan Chen, Shuangyu Xie, Letian Fu +21Robot Policy LearningGraph-Based Planning

    University of California, Berkeley · Carnegie Mellon University · Bosch +1

  25. Second MOASEI Competition at AAMAS'2026: A Technical Report

    Jul 3, 2026Ceferino Patino, Tyler J. Billings, Alireza Saleh Abadi +4Multi-Agent CoordinationAI Agent Benchmarks

    University of Nebraska - Lincoln · Lincoln, Nebraska, United States · University of Georgia - Athens +3

  26. MultiUAV-Plat: An LLM-Oriented Platform, Benchmark and Framework for Multi-UAV Collaborative Task Planning

    Jun 30, 2026Sheng Zhang, Qinglin Li, Yuechao Zang +3Aerial RoboticsLarge Language Model-Based Robot Planning

    National Key Laboratory of Information Systems Engineering, National University of Defense Technology, Deya Road, Changsha, 410073, Hunan, China

  27. LLawCo: Learning Laws of Cooperation for Modeling Embodied Multi-Agent Behavior

    Jun 26, 2026Qinhong Zhou, Chuang Gan, Anoop CherianMulti-Agent CoordinationAI Alignment

    University of Massachusetts Amherst, USA. · 2Mitsubishi Electric Research Laboratories (MERL), USA.

  28. HEART: Coordination of Heterogeneous Expert Agents for Physically Grounded Robotic Task Planning

    Jun 24, 2026Junho Lee, Seabin Lee, Wonjong Lee +3Large Language Model-Based Robot PlanningRobot Task Planning

    Dept. of Electronic Engineering, Sogang University, Seoul, Korea

  29. Mobile Target Search with Imperfect Perception: A Partially Observable Stochastic Game Theoretical Approach

    Jun 18, 2026Hanzheng Zhang, Shu Liang, Shuyu LiuImperfect-Information GamesGame Theory

    Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University, Shanghai, China · Department of Control Science and Engineering, Tongji University, Shanghai, China

  30. Autonomous Event-Driven Multi-Agent Orchestration for Enterprise AI at Scale

    Jun 18, 2026Harsh Rao Dhanyamraju, Leonidas Raghav, Aaron LeeMulti-Agent OrchestrationEnterprise AI Agents

    Data Scientist, SAP SE · ML Engineer, SAP SE