DynaHMRC: Decentralized Heterogeneous Multi-Robot Collaboration for Dynamic Tasks with Large Language Models (opens in new tab)

Large language models (LLMs) provide robots with richer task understanding and adaptability, making them promising for coordinating heterogeneous multi-robot systems in long-horizon tasks. Despite this potential, several challenges remain underexplored: (1) Centralized LLM schedulers scale poorly as team size and environmental complexity increase. A single model must process excessive contextual information, and long-context approximation may de...