infrastructure proof-of-concept offloading representation & planning from robots to env. concept smooth integration representation, planning, and execution motivation future directions c.f., [Thomas+ Intell. Syst.-15, Li+ AAAI-19, Atzmon+ SoCS-19] large robots cell-driven multi-robot path planning c.f., [Okumura+ AAAI-21] video&authors: https://dfg-lab.github.io/afada/