Multi-Agent Orchestration with the Common-Sense Reasoning Capabilities of LLMs for Autonomous Driving
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Computer Science > Multiagent Systems
arXiv:2608.20129 (cs)
[Submitted on 20 Aug 2026]
Title:Multi-Agent Orchestration with the Common-Sense Reasoning Capabilities of LLMs for Autonomous Driving
View a PDF of the paper titled Multi-Agent Orchestration with the Common-Sense Reasoning Capabilities of LLMs for Autonomous Driving, by Mehdi Azarafza and 4 other authors
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Abstract:Autonomous vehicles require robust perception and decision-making capabilities to operate in diverse and unseen scenarios. While reinforcement learning and rule-based methods can provide effective control and safety mechanisms, their performance may degrade in situations requiring contextual reasoning. Large Language Models (LLMs) have demonstrated strong capabilities in understanding multimodal information and generating contextual reasoning, however, their use for direct vehicle control can introduce latency and hallucination risks. To address these limitations, a hybrid framework is proposed. This system uses an orchestrator to coordinate PPO-trained reinforcement learning and PID control, with LLM common-sense reasoning applied throughout the framework. LLM reasoning is further employed iteratively to refine the RL reward function for dynamic driving environments. The proposed framework is evaluated in highly randomized CARLA scenarios under diverse environmental and traffic conditions. The results demonstrate the potential of integrating LLM-based reasoning with conventional autonomous driving methods while retaining structured control and safety mechanism.
| Comments: | 17 pages, 7 figures |
| Subjects: | Multiagent Systems (cs.MA); Computation and Language (cs.CL); Computer Vision and Pattern Recognition (cs.CV) |
| Cite as: | arXiv:2608.20129 [cs.MA] |
| (or arXiv:2608.20129v1 [cs.MA] for this version) | |
| https://doi.org/10.48550/arXiv.2608.20129
arXiv-issued DOI via DataCite (pending registration)
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View a PDF of the paper titled Multi-Agent Orchestration with the Common-Sense Reasoning Capabilities of LLMs for Autonomous Driving, by Mehdi Azarafza and 4 other authors
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