-- Multi-vehicle trajectory planning (MVTP) is one of the key challenges in multi-robot systems (MRSs) and has broad applications across various fields. This paper presents ESCoT, an enhanced step-based coordinate trajectory planning method for multiple car-like robots. ESCoT incorporates two key strategies: collaborative planning for local robot groups and replanning for duplicate configurations. These strategies effectively enhance the performance of step-based MVTP methods. Through extensive experiments, we show that ESCoT 1) in sparse scenarios, significantly improves solution quality compared to baseline step-based method, achieving up to 70% improvement in typical conflict scenarios and 34% in randomly generated scenarios, while maintaining high solving efficiency; and 2) in dense scenarios, outperforms all baseline methods, maintains a success rate of over 50% even in the most challenging configurations. The results demonstrate that ESCoT effectively solves MVTP, further extending the capabilities of step-based methods. Research on multi-robot systems (MRSs) has attracted growing attention in recent years, for its capability of accomplishing complicated missions more effectively and efficiently [1], [2]. MRSs involve many critical problems, one of which is multi-agent path finding (MAPF). MAPF focuses on finding conflict-free paths for multiple agents in a shared environment, ensuring that each agent can navigate from its start position to its goal without colliding with others [3].

Population-based cancer registries (PBCRs) face a significant bottleneck in manually extracting data from unstructured pathology reports, a process crucial for tasks like tumor group assignment, which can consume 900 person-hours for approximately 100,000 reports. To address this, we introduce ELM (Ensemble of Language Models), a novel ensemble-based approach leveraging both small language models (SLMs) and large language models (LLMs). ELM utilizes six fine-tuned SLMs, where three SLMs use the top part of the pathology report and three SLMs use the bottom part. This is done to maximize report coverage. ELM requires five-out-of-six agreement for a tumor group classification. Disagreements are arbitrated by an LLM with a carefully curated prompt. Our evaluation across nineteen tumor groups demonstrates ELM achieves an average precision and recall of 0.94, outperforming single-model and ensemble-without-LLM approaches. Deployed at the British Columbia Cancer Registry, ELM demonstrates how LLMs can be successfully applied in a PBCR setting to achieve state-of-the-art results and significantly enhance operational efficiencies, saving hundreds of person-hours annually.

Path planning for multiple non-holonomic robots in continuous domains constitutes a difficult robotics challenge with many applications. Despite significant recent progress on the topic, computationally efficient and high-quality solutions are lacking, especially in lifelong settings where robots must continuously take on new tasks. In this work, we make it possible to extend key ideas enabling state-of-the-art (SOTA) methods for multi-robot planning in discrete domains to the motion planning of multiple Ackerman (car-like) robots in lifelong settings, yielding high-performance centralized and decentralized planners. Our planners compute trajectories that allow the robots to reach precise $SE(2)$ goal poses. The effectiveness of our methods is thoroughly evaluated and confirmed using both simulation and real-world experiments.