MHRC: 大規模言語モデルによる分散型マルチ異種ロボット協調

原文アブストラクト

The integration of large language models (LLMs) with robotics has significantly advanced robots' abilities in perception, cognition, and task planning. The use of natural language interfaces offers a unified approach for expressing the capability differences of heterogeneous robots, facilitating communication between them, and enabling seamless task allocation and collaboration. Currently, the utilization of LLMs to achieve decentralized multi-heterogeneous robot collaborative tasks remains an under-explored area of research. In this paper, we introduce a novel framework that utilizes LLMs to achieve decentralized collaboration among multiple heterogeneous robots. Our framework supports three robot categories, mobile robots, manipulation robots, and mobile manipulation robots, working together to complete tasks such as exploration, transportation, and organization. We developed a rich set of textual feedback mechanisms and chain-of-thought (CoT) prompts to enhance task planning efficiency and overall system performance. The mobile manipulation robot can adjust its base position flexibly, ensuring optimal conditions for grasping tasks. The manipulation robot can comprehend task requirements, seek assistance when necessary, and handle objects appropriately. Meanwhile, the mobile robot can explore the environment extensively, map object locations, and communicate this information to the mobile manipulation robot, thus improving task execution efficiency. We evaluated the framework using PyBullet, creating scenarios with three different room layouts and three distinct operational tasks. We tested various LLM models and conducted ablation studies to assess the contributions of different modules. The experimental results confirm the effectiveness and necessity of our proposed framework.