mlsanityData to 7 Oct 2026

When2com: Multi-Agent Perception via Communication Graph Grouping

arXiv 2006.00176 ↗First posted 30 May 2020cs.CV cs.MA cs.ROcited by 157

Not on the map. Why?

Abstract (arXiv)

While significant advances have been made for single-agent perception, many applications require multiple sensing agents and cross-agent communication due to benefits such as coverage and robustness. It is therefore critical to develop frameworks which support multi-agent collaborative perception in a distributed and bandwidth-efficient manner. In this paper, we address the collaborative perception problem, where one agent is required to perform a perception task and can communicate and share information with other agents on the same task. Specifically, we propose a communication framework by learning both to construct communication groups and decide when to communicate. We demonstrate the generalizability of our framework on two different perception tasks and show that it significantly reduces communication bandwidth while maintaining superior performance.

Key facts. Cited by 157 papers in the map (data through 7 Oct 2026). First posted on arXiv 30 May 2020.

Builds on

No reference list yet.

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 9; 2022: 11; 2023: 31; 2024: 33; 2025: 40; 2026: 33.

157 papers.

Sort:

By area:

  1. 2023End-to-end Autonomous Driving: Challenges and Frontierscited by 485
  2. 2022Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Mapscited by 255
  3. 2021Learning Distilled Collaboration Graph for Multi-Agent Perceptioncited by 194
  4. 2022V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Drivingcited by 157
  5. 20223D Object Detection for Autonomous Driving: A Comprehensive Surveycited by 132
  6. 2023V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecastingcited by 114
  7. 2023Collaborative Perception in Autonomous Driving: Methods, Datasets and Challengescited by 87
  8. 2024An Extensible Framework for Open Heterogeneous Collaborative Perceptioncited by 87
  9. 2022Latency-Aware Collaborative Perceptioncited by 86
  10. 2023Collaboration Helps Camera Overtake LiDAR in 3D Detectioncited by 81
  11. 2024Communication-Efficient Collaborative Perception via Information Filling with Codebookcited by 67
  12. 2023Asynchrony-Robust Collaborative Perception via Bird's Eye View Flowcited by 58
38 more
  1. 2023Spatio-Temporal Domain Awareness for Multi-Agent Collaborative Perceptioncited by 52
  2. 2025STAMP: Scalable Task And Model-agnostic Collaborative Perceptioncited by 44
  3. 2023CORE: Cooperative Reconstruction for Multi-Agent Perceptioncited by 41
  4. 2023Towards Vehicle-to-everything Autonomous Driving: A Survey on Collaborative Perceptioncited by 38
  5. 2023Among Us: Adversarially Robust Collaborative Perception by Consensuscited by 37
  6. 2024RCooper: A Real-world Large-scale Dataset for Roadside Cooperative Perceptioncited by 37
  7. 2022Multi-Robot Collaborative Perception with Graph Neural Networkscited by 34
  8. 2023DI-V2X: Learning Domain-Invariant Representation for Vehicle-Infrastructure Collaborative 3D Object Detectioncited by 34
  9. 2024Collaborative Semantic Occupancy Prediction with Hybrid Feature Fusion in Connected Automated Vehiclescited by 33
  10. 2023UMC: A Unified Bandwidth-efficient and Multi-resolution based Collaborative Perception Frameworkcited by 29
  11. 2022V2XP-ASG: Generating Adversarial Scenes for Vehicle-to-Everything Perceptioncited by 28
  12. 2025V2V-LLM: Vehicle-to-Vehicle Cooperative Autonomous Driving with Multimodal Large Language Modelscited by 27
  13. 2025CoSDH: Communication-Efficient Collaborative Perception via Supply-Demand Awareness and Intermediate-Late Hybridizationcited by 27
  14. 2023Interruption-Aware Cooperative Perception for V2X Communication-Aided Autonomous Drivingcited by 25
  15. 2023QUEST: Query Stream for Practical Cooperative Perceptioncited by 23
  16. 2022A Survey and Framework of Cooperative Perception: From Heterogeneous Singleton to Hierarchical Cooperationcited by 21
  17. 2023Learning Cooperative Trajectory Representations for Motion Forecastingcited by 21
  18. 2023BM2CP: Efficient Collaborative Perception with LiDAR-Camera Modalitiescited by 20
  19. 2024Towards Collaborative Autonomous Driving: Simulation Platform and End-to-End Systemcited by 20
  20. 2023Adaptive Communications in Collaborative Perception with Domain Alignment for Autonomous Drivingcited by 19
  21. 2021Collaborative Visual Navigationcited by 18
  22. 2023DUSA: Decoupled Unsupervised Sim2Real Adaptation for Vehicle-to-Everything Collaborative Perceptioncited by 17
  23. 2021Overcoming Obstructions via Bandwidth-Limited Multi-Agent Spatial Handshakingcited by 16
  24. 2024UAV3D: A Large-scale 3D Perception Benchmark for Unmanned Aerial Vehiclescited by 16
  25. 2023Probabilistic 3D Multi-Object Cooperative Tracking for Autonomous Driving via Differentiable Multi-Sensor Kalman Filtercited by 15
  26. 2023Vehicle-to-Everything Cooperative Perception for Autonomous Drivingcited by 15
  27. 2024One is Plenty: A Polymorphic Feature Interpreter for Immutable Heterogeneous Collaborative Perceptioncited by 15
  28. 2024Directed-CP: Directed Collaborative Perception for Connected and Autonomous Vehicles via Proactive Attentioncited by 14
  29. 2021Graph Neural Networks for Decentralized Multi-Robot Submodular Action Selectioncited by 13
  30. 2024A Survey on Intermediate Fusion Methods for Collaborative Perception Categorized by Real World Challengescited by 13
  31. 2024DSRC: Learning Density-insensitive and Semantic-aware Collaborative Representation against Corruptionscited by 13
  32. 2021Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systemscited by 12
  33. 2023Select2Col: Leveraging Spatial-Temporal Importance of Semantic Information for Efficient Collaborative Perceptioncited by 12
  34. 2024Drones Help Drones: A Collaborative Framework for Multi-Drone Object Trajectory Prediction and Beyondcited by 12
  35. 2024What Makes Good Collaborative Views? Contrastive Mutual Information Maximization for Multi-Agent Perceptioncited by 11
  36. 2024Collaborative Perception Datasets in Autonomous Driving: A Surveycited by 11
  37. 2025AirV2X: Unified Air-Ground Vehicle-to-Everything Collaborationcited by 11
  38. 2025CRUISE: Cooperative Reconstruction and Editing in V2X Scenarios using Gaussian Splattingcited by 11

50 most cited of 157 All 157 (JSON)