Spatial and Semantic Reasoning for LLM-Driven Robot Navigation via MCP

arXiv:2609.27340 · cs.RO · Submitted 2026-09-23 · Read on arXiv

cs.RO

Submitted: 2026-09-23

Updated: 2026-09-23

Code: https://github.com/robotmcp/ros-mcp-server

Terminology

• Grounding — 4× in this paper · explained in 3 episodes
• Model Context Protocol — 4× in this paper
• Model Context Protocol (MCP) — 3× in this paper · explained in 8 episodes
• Embodied AI — 2× in this paper · explained in 2 episodes
• Large Language Models (LLMs) — 2× in this paper · explained in 6 episodes
• Robot Operating System — 2× in this paper
• Calibration — 1× in this paper · explained in 7 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Structured Reasoning — 1× in this paper · explained in 3 episodes

Sources

• Enabling Novel Mission Operations and Interactions with ROSA: The Robot Operating System Agent
• ROS-LLM: A ROS framework for embodied AI with task feedback and structured reasoning
• RoboNeuron: A Middle-Layer Infrastructure for Agent-Driven Orchestration in Embodied AI
• Meta-Memory: Retrieving and Integrating Semantic-Spatial Memories for Robot Spatial Reasoning

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