Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs

Abstract: In this paper, we introduce a multi-robot system that integrates mapping, localization, and task and motion planning (TAMP) enabled by 3D scene graphs to execute complex instructions expressed in natural language. Our system builds a shared 3D scene graph incorporating an open-set object-based map, which is leveraged for multi-robot 3D scene graph fusion. This representation supports real-time, view-invariant relocalization (via the object-based map) and planning (via the 3D scene graph), allowing a team of robots to reason about their surroundings and execute complex tasks. Additionally, we introduce a planning approach that translates operator intent into Planning Domain Definition Language (PDDL) goals using a LLM by leveraging context from the shared 3D scene graph and robot capabilities. We provide an experimental assessment of the performance of our system on real-world tasks in large-scale, outdoor environments.