Safe Multi-Robot Coordination via VLM-LLM Reasoning and Reachability Analysis

arXiv:2609.27816 · cs.RO, cs.AI, cs.SY, eess.SY · Submitted 2026-08-18 · Read on arXiv

cs.RO, cs.AI, cs.SY, eess.SY

Submitted: 2026-08-18

Updated: 2026-08-18

Code: https://github.com/TUM-CPS-HN/MRSVLMRA

Terminology

• Verification — 47× in this paper · explained in 2 episodes
• Calibration — 10× in this paper · explained in 7 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Consistency — 5× in this paper · explained in 3 episodes
• Actor — 4× in this paper · explained in 3 episodes
• Formal Verification — 4× in this paper · explained in 2 episodes
• Abstraction — 3× in this paper · explained in 1 episode
• Affordance — 3× in this paper · explained in 1 episode
• Benchmarking — 3× in this paper · explained in 3 episodes
• Generalizability — 3× in this paper · explained in 6 episodes
• Task Decomposition — 3× in this paper · explained in 2 episodes
• Vision-language models — 3× in this paper · explained in 2 episodes
• Accuracy — 2× in this paper · explained in 1 episode
• Adaptation — 2× in this paper · explained in 1 episode
• Foundation Model — 2× in this paper · explained in 3 episodes
• Foundation Models — 2× in this paper · explained in 7 episodes
• Steering — 2× in this paper · explained in 2 episodes
• Active Vision — 1× in this paper · explained in 1 episode
• Agentic AI — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Computational Tractability — 1× in this paper · explained in 2 episodes
• Cooperation — 1× in this paper · explained in 2 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Domain Shift — 1× in this paper · explained in 4 episodes
• Formal Methods — 1× in this paper · explained in 3 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Hybrid System — 1× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Institute for Intelligent Cyber-Physical Systems — 1× in this paper
• Multimodal Fusion — 1× in this paper · explained in 3 episodes
• Positional Bias — 1× in this paper · explained in 2 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Systematic Bias — 1× in this paper · explained in 3 episodes
• Task Planning — 1× in this paper · explained in 2 episodes
• Technical University of Munich — 1× in this paper
• Trace — 1× in this paper · explained in 2 episodes
• Vision-Language Models (VLMs) — 1× in this paper · explained in 6 episodes

Sources

• PaLM-E: An Embodied Multimodal Language Model
• Inner Monologue: Embodied Reasoning through Planning with Language Models
• Safe LLM-Controlled Robots with Formal Guarantees via Reachability Analysis

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