Long-horizon planning is hindered by challenges such as uncertainty accumulation, computational complexity, delayed rewards and incomplete information. This work proposes an approach to exploit the task hierarchy from human instructions to facilitate multi-robot planning. Using Large Language Models (LLMs), we propose a two-step approach to translate multi-sentence instructions into a structured language, Hierarchical Linear Temporal Logic (LTL), which serves as a formal representation for planning. Initially, LLMs transform the instructions into a hierarchical representation defined as Hierarchical Task Tree, capturing the logical and temporal relations among tasks. Following this, a domain-specific fine-tuning of LLM translates sub-tasks of each task into flat LTL formulas, aggregating them to form hierarchical LTL specifications. These specifications are then leveraged for planning using off-the-shelf planners. Our framework not only bridges the gap between instructions and algorithmic planning but also showcases the potential of LLMs in harnessing hierarchical reasoning to automate multi-robot task planning. Through evaluations in both simulation and real-world experiments involving human participants, we demonstrate that our method can handle more complex instructions compared to existing methods. The results indicate that our approach achieves higher success rates and lower costs in multi-robot task allocation and plan generation. Demos videos are available at https://youtu.be/7WOrDKxIMIs .

本研究解决了长远规划中不确定性累积、计算复杂性和信息不完全等挑战。通过利用大语言模型和任务层次结构，将多句指令翻译为结构化语言，提出了一种新颖的规划方法。研究结果表明，该方法在多机器人任务分配和计划生成中取得了更高的成功率和更低的成本。 

通过层次视角扩展多机器人自然语言理解