提出分布式扩散模型，让多机器人快速协同规划路径。

Trajectory optimization for multi-robot systems remains a critical challenge, particularly when navigating highly non-convex, non-linear, and non-differentiable environments. While Model-Based Diffusion (MBD) has recently emerged as a promising sampling-based optimization paradigm for single-robot trajectory generation, extending it to multi-robot systems results in a centralized, high-dimensional inference problem that (i) suffers from poor sample efficiency due to the curse of dimensionality and (ii) requires global access to all robots' dynamics, constraints, and objectives. To address this, we propose Distributed Model-Based Diffusion (DMBD), a distributed server-robot framework that decomposes the reverse diffusion process into local conditional reverse diffusion processes. This decomposition enables each robot to iteratively perform denoising independently within its own control subspace while conditioning on the current trajectory estimates of the other robots that are aggregated and broadcast by the server. Extensive simulations in goal swapping, multi-floor coverage, parking, and rush-hour scenarios demonstrate that DMBD achieves strong scalability, solving many challenging coordination tasks in sub-seconds and significantly outperforming existing baselines.