Scale-Plan: Scalable Language-Enabled Task Planning for Heterogeneous Multi-Robot Teams
Long-horizon task planning for heterogeneous multi-robot systems is essential for deploying collaborative teams in real-world environments; yet, it remains challenging due to the large volume of perceptual information, much of which is irrelevant to task objectives and burdens planning. Traditional symbolic planners rely on manually constructed problem specifications, limiting scalability and adaptability, while recent large language model (LLM)-based approaches often suffer from hallucinations and weak grounding-i.e., poor alignment between generated plans and actual environmental objects and constraints-in object-rich settings. We present Scale-Plan, a scalable LLM-assisted framework th...
| Authors | Piyush Gupta, Sangjae Bae, Jiachen Li et al. |
|---|---|
| Primary category | cs.RO |
| Published | 9 March 2026 |
| Last updated at source | 28 August 2026 |
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