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DD-GBP: Anytime Multi-Arm Planning and Continuous Execution via Distributed Dynamic Gaussian Belief Propagation

arXiv · AI, language, vision and robotics · article · Oct 14, 2026 · UTC

Safely executing long-horizon multi-arm tasks online in complex dynamic environments remains challenging. We propose a new distributed dynamic Gaussian belief propagation (DD-GBP) method that directly plans joint-space trajectories through parallel local inference. A unified Gaussian-process (GP) parameterization connects adaptive planning horizons, interpolation-time factors, and continuous execution. Each robot maintains a local tree-structured factor graph and exchanges messages asynchronously over active inter-arm links. Dynamic subnet reconstruction and event-triggered updates reduce comm

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