GuideFetch: A Task Coordination Framework for Concurrent Navigation and Object Retrieval in Assistive Robot Dogs

• URL: http://arxiv.org/abs/2608.18292v2
• Date: Sun, 23 Aug 2026 07:34:12 GMT
• Title: GuideFetch: A Task Coordination Framework for Concurrent Navigation and Object Retrieval in Assistive Robot Dogs
• Abstract summary: textscGuideFetch is a framework for coordinating a concurrent guide-and-fetch mission with heterogeneous robots.<n>We record 360 simulator runs over 90 scene--seed combinations under scripted and online plan-provenance conditions.<n>Across 90 scene--seed cases per schedule, sequential and parallel execution achieve $72/90$ and $71/90$ operational successes.
• Score: 38.9772084779486
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Consider one robot guide dog escorting a blind user to a seat while a second retrieves and delivers an object. We introduce \textsc{GuideFetch}, a framework for coordinating this concurrent guide-and-fetch mission with heterogeneous robots. A large language model (LLM) instantiates a schedule-conditioned four-action schema; deterministic normalization and validation enforce registered targets, robot capabilities, and the selected schedule, while robot and object states govern execution and completion. We record 360 simulator runs over 90 scene--seed combinations under scripted and online plan-provenance conditions. All 180 online responses validate on the first request and match their scripted references, so the plan-provenance comparison tests normalized-plan agreement rather than a distinct execution factor. A simulator-free mutation test accepts two valid controls and rejects all 32 rule-violating variants. Across 90 scene--seed cases per schedule, sequential and parallel execution achieve $72/90$ and $71/90$ operational successes. Among 56 common successes, the implemented role-reassigned parallel protocol reduces mean makespan by 41.3\%. This system-level gain combines role assignment, action overlap, and scene geometry; state checks distinguish plan validity from verified mission completion.

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