Multi-Robot Coordination

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Overview

Multi-robot coordination studies how robots with shared or complementary goals work together in settings such as exploration, transport, warehouses, and aerial-ground missions. Approaches include task allocation and scheduling, joint or distributed motion planning, formation and feedback control, and learned policies that use local observations, communication, or demonstrations. Work increasingly combines these methods with safety constraints, uncertainty-aware replanning, and language or vision models, with evaluation spanning simulation, benchmarks, and physical robot teams. A central challenge is balancing the efficiency and global awareness of centralized planning against the scalability, resilience, and limited communication of decentralized teams, especially when robots or environments differ from those seen in training.

Latest papers

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326 papers50 papers in the last four weeks, up 22% on the four weeks before. 0.3% of all new papers.

  1. World Dreamer v5-lite: A Multi-Robot World Action Model with One Dreamer

    Oct 27, 2026Guoning Wu, Zijian Cai, Yuhang Zhang +2World Models for RoboticsRobotics

    World Agents

  2. Distributed Predictive Flocking for a Swarm of Miniature Vibration-Driven Robots in a Confined Arena

    Oct 26, 2026Prajol Shrestha, Siddhant Mohapatra, Filip Novkoski +4Swarm RoboticsMulti-Robot Coordination

    Pattern Recognition Lab, Department of Computer Science, Friedrich-Alexander-Universität Erlangen-Nürnberg, 91058, Erlangen, Germany · PULS, Institute for Theoretical Physics, Friedrich-Alexander-Universität Erlangen-Nürnberg, 91058, Erlangen, Germany · GRASP, Institute of Physics B5a, University of Liège, B4000, Liège, Belgium +1

  3. DSGN: A Dual-Stream Gated Network for Scalable Simultaneous Surveillance and Containment

    Oct 25, 2026Heng Zhang, Ziyang Zuo, Guoxiang Zhao +1Multi-Robot CoordinationReinforcement Learning

    School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China · School of Future Technology, Shanghai University, Shanghai 200444, China · National Key Laboratory of Maritime Unmanned Swarm Intelligence, Shanghai University, Shanghai 200444, China

  4. UAV-SwarmAgent: Scalable Multi-UAV Reconnaissance and Task Allocation via Code Generation and Vision-Language Reasoning

    Oct 23, 2026Oleg Sautenkov, Yasheerah Yaqoot, Muhammad Ahsan Mustafa +3Aerial RoboticsMulti-Robot Coordination

    Intelligent Space Robotics Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia · AiRo Lab, Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong

  5. Facultative Swarming: A Capability, Not a Category, for Multi-Robot Systems

    Oct 23, 2026Ning Zhou, Edmund R. HuntMulti-Robot SystemsSwarm Robotics

    School of Engineering Mathematics & Technology, University of Bristol, Ada Lovelace Building, Tankard’s Close, Bristol BS8 1TW, United Kingdom

  6. Extending Harmonic Function Methods via Root Locus for Coordinated Path Generation

    Oct 22, 2026Matteo Frascarelli, Lucia Pallottino, Alberto LandiMulti-Robot Motion PlanningMotion Planning

    Department of Information Engineering, University of Pisa, Pisa, Italy · Research Center E. Piaggio, Department of Information Engineering, University of Pisa, Pisa, Italy

  7. Dispersive Tree Agreements for Multi-Robot Coordination

    Oct 22, 2026Shashank A. Deshpande, Blake T. Edwards, Jonathan P. HowMulti-Robot CoordinationMulti-Robot Motion Planning

    Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA 02139, USA

  8. Co^2Gen: Collaboratively Generating Task Plans for Decentralized Multi-Robot and Human Collaboration

    Oct 22, 2026Yi Loo, Siddhant Shrivastava, Minh Long Pham +1Synthetic Data Generation for RoboticsHuman-Robot Collaboration

    Singapore University of Technology and Design (SUTD), Singapore.

  9. Learning Waypoints and Passage Events for Decentralized Multi-Quadrotor Trajectory Planning

    Oct 18, 2026Yunhan Shi, Jia Deng, Zehao Jia +2Multi-Robot Motion PlanningMulti-Robot Coordination

    School of Astronautics, Beihang University, Beijing 100191, China · Astroup(Beijing) Technology Co., Ltd.

  10. CoEvolve: Self-Evolving Code Policies from Skills to Strategies for Humanoid Robots

    Oct 16, 2026Zicheng Liu, Haochen Wu, Jiawei He +4Multi-Robot CoordinationMulti-Robot Cargo Transportation

    Peking University · Renmin University of China · Beijing XYZ Embodied AI Co., Ltd. +1

  11. InstAgent: A Recursively Self-Improving Agent Operating System for Heterogeneous Robot Collaboration

    Oct 16, 2026Haoyang Luo, Junhao Qin, Jingyan Cao +7Agentic AI for RoboticsMulti-Robot Systems

    ShanghaiTech University, Shanghai, China. · InstAdapt, Shanghai, China.

  12. VLA-Fabric: Learning Interaction for Composable Multi-Arm VLA Agents

    Oct 16, 2026Chenglong Zhang, Shuaijun Liu, Feiyang You +3Multi-Agent CoordinationMulti-Robot Coordination

    The Hong Kong University of Science and Technology (Guangzhou)

  13. SenseSwarm: Swarm Exploration via Neural Structure Estimation with Shared World-Anticipation for Rapid Mapping

    Oct 16, 2026Haohua Que, Haojia Gao, Mingkai Liu +7Multi-Robot ExplorationSwarm Robotics

    Department of Electronic Engineering, Tsinghua University, Beijing, China. · Tsinghua Shenzhen International Graduate School (SIGS), Tsinghua University, Shenzhen, China. · School of Software and Microelectronics, Peking University, Beijing, China. +1

  14. Mothership: A Two Tier Autonomous Refuse Collection System for Pedestrian Campuses

    Oct 15, 2026Wei Wang, Yiru Veronika Wang, Yihan Wang +2Service RoboticsMulti-Robot Cargo Transportation

    Robostreet research team. Cambridge, MA, USA

  15. PingpongDuo: Agile Humanoid Table Tennis Doubles with Safe Team Coordination

    Oct 14, 2026Haoran Jiang, Yichao Zhong, Kai Zhang +6Robotic Table TennisRobotics

    Shanghai Innovation Institute · Archon Robotics · The University of Hong Kong +1

  16. HM3D-M3: A Benchmark for Multi-Agent, Multi-Modal, Multi-Object Goal Navigation

    Oct 14, 2026Hongyu Ding, Kanyu Xu, Mingjia Chen +5Robot Navigation BenchmarksRobot Navigation

    Hongyu Ding and Jing Huo are with the School of Computer Science, Nanjing University, China. · Hongyu Ding and Yifan Zhang are with the Institute of Automation, Chinese Academy of Sciences, and the University of Chinese Academy of Sciences, Nanjing, China. · Kanyu Xu, Zixuan Chen, Jieqi Shi and Yang Gao are with the School of Intelligence Science and Technology, Nanjing University, China. +1

  17. Collaborative Planning for UAV-UGV Teams under Operational Constraints via Masked Error-bounded Neuro-Symbolic Diffusion

    Oct 13, 2026Zihao Deng, Qianhuang Li, Maggie Wigness +3Neuro-Symbolic PlanningDiffusion-Based Planning

    University of Massachusetts Amherst · U.S. Army DEVCOM Army Research Laboratory

  18. CoLA: Multi-VLA Coordination via Learned Adapters

    Oct 11, 2026Ahaskar Kashyap, Jiawen Zong, Boyu Ma +4Multi-Agent CoordinationMulti-Robot Coordination

    MARS Lab · Nanyang Technological University, Singapore · Autonomous Agents Research Group

  19. Persistent LLM Orchestration of Heterogeneous Robot Teams via Partial Delegation to Multi-Agent Protocols

    Oct 10, 2026Maria G. Mendoza, Victoria M. Tuck, Zachary Ravichandran +2LLM Agent OrchestrationLarge Language Model-Based Robot Planning

    Department of Mechanical Engineering (M.G.M.) and Department of Electrical Engineering and Computer Sciences (S.S.), University of California, Berkeley, CA, USA. · Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA.

  20. B-Human '26 - Scalable Team Play up to 11 vs. 11

    Oct 10, 2026Arne Hasselbring, Tim Laue, Thomas Röfer +1RoboticsHumanoid Robotics

    Universität Bremen, Fachbereich 3 – Mathematik und Informatik, Postfach 330 440, 28334 Bremen, Germany · Deutsches Forschungszentrum für Künstliche Intelligenz, Cyber-Physical Systems, Enrique-Schmidt-Str. 5, 28359 Bremen, Germany

  21. CoPlanVLM: Coordinated Path Planning for a Robot Team using Vision Language Models

    Oct 9, 2026David R. Martin, Jared Paquet, Mohammad Abdullah Al Faruque +4Robot Task PlanningMulti-Robot Motion Planning

    Department of Electrical Engineering and Computer Science, University of California, Irvine · Department of Mechanical and Aerospace Engineering at the University of Florida · Torch Technologies, LLC in Shalimar, FL +1

  22. Akule: Fast and Scalable Multi-Robot Motion Planning via Sparse Interaction Diffusion

    Oct 9, 2026Manav Vora, Gokul Puthumanaillam, Aditya Penumarti +2Multi-Robot Motion PlanningDiffusion-Based Planning

  23. Composable Dynamics for Cooperative Humanoids: A RoboCompiler Extension

    Oct 9, 2026Mehdi Heydari Shahna, Jouni MattilaMultibody DynamicsHumanoid Robot Control

    Faculty of Engineering and Natural Sciences, Tampere University, Tampere, Finland

  24. Cooperative Aerial Transportation of a Payload with a Sliding Cable Attachment

    Oct 9, 2026Sebastian Tilaguy Lezama, Diego S D'AntonioAerial RoboticsAerial Manipulation

    Distributed Multi-Agent Robotic Systems (∆MARS Lab), Department of Electrical and Computer Engineering, Oakland University, Rochester, MI 48309, USA

  25. MAGMA-Bench: Evaluating Long-Horizon Embodied Agents under Dynamic Tasks and Execution Failures

    Oct 9, 2026Loan Bernat, Matthieu Grard, Ariane Herbulot +1Embodied Agent BenchmarksLong-Horizon Agent Evaluation

    LAAS-GEPETTO · LAAS-RAP

  26. Failure-Resilient Multi-Robot Coordination with kk-Connectivity Constrained Submodular Maximization

    Oct 9, 2026Yoonjae Hwang, Hojune Kim, Ellen Novoseller +2Resilient Multi-Robot CoordinationMulti-Robot Coordination

    School of Computer Science, University of Southern California, Los Angeles, CA, USA · U.S. Army DEVCOM Army Laboratory

  27. Verifier-Mediated Multi-LLM Coordination for Multi-Robot Path Planning

    Oct 8, 2026Vivek Khatana, Zijian Song, Naira Hovakimyan +1Multi-Robot CoordinationLarge Language Model-Based Robot Planning

    Department of Mechanical Science and Engineering, University of Illinois Urbana-Champaign, Urbana, IL, USA · Department of Mechanical Engineering, University of Nevada, Reno, NV, USA

  28. Robust and Scalable UAV-UGV Planning for Aerial Monitoring under Energy and Precedence Constraints

    Oct 8, 2026Cahit Ikbal Er, Yasin YaziciogluConstrained Motion PlanningVehicle Routing

    Department of Mechanical and Industrial Engineering, Northeastern University, Boston, MA, USA · Departments of Mechanical and Industrial Engineering and Electrical and Computer Engineering, Northeastern University, Boston, MA, USA

  29. Distributed Motion Planning for Multi-Robot Systems under Topological Constraints

    Oct 7, 2026Gianpietro Battocletti, Dimitris Boskos, Dimos V. Dimarogonas +1Multi-Robot Motion PlanningMulti-Robot Coordination

    Delft Center for Systems and Control, Delft University of Technology, Delft, The Netherlands. · Division of Decision And Control Systems, KTH Royal Institute of Technology, Stockholm, Sweden.

  30. Safe Multi-Robot Collaborative Transport Using Density Functions

    Oct 6, 2026Jagannath Prasad Sahoo, Sriram S. K. S. Narayanan, Umesh VaidyaMulti-Robot SystemsWhole-Body Robotic Manipulation

    Center for Artificial Intelligence and Robotics, Indian Institute of Technology Mandi, India · Department of Mechanical Engineering, Clemson University, Clemson, SC 29630, USA