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FlockDiffusion: Assignment-Conditioned Diffusion for Multi-Drone Task Allocation and Completion

arXiv · AI, language, vision and robotics · article · Sep 20, 2026 · UTC

Autonomous multi-drone navigation requires fleets to service distributed objectives in cluttered environments under tight computational budgets. Efficient coordination depends on task bundling, where each drone visits multiple objectives along its route. Separate solvers for cost estimation, assignment, and execution incur redundant graph search and produce long, abrupt paths. We propose FlockDiffusion, a learned framework combining a scene graph encoder, an explicit allocation head, an assignment conditioned diffusion transformer, and a closed form trajectory decoder. An autoregressive teache

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