# When2com: Multi-Agent Perception via Communication Graph Grouping

arXiv: https://arxiv.org/abs/2006.00176 · HTML: https://mlsanity.com/paper/2006.00176/

## Key facts

- Cited by 157 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 30 May 2020.

## Built on by (most cited first, 30 of 157)

- [End-to-end Autonomous Driving: Challenges and Frontiers](https://mlsanity.com/paper/2306.16927/) (2023)
- [Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Maps](https://mlsanity.com/paper/2209.12836/) (2022)
- [Learning Distilled Collaboration Graph for Multi-Agent Perception](https://mlsanity.com/paper/2111.00643/) (2021)
- [V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Driving](https://mlsanity.com/paper/2202.08449/) (2022)
- [3D Object Detection for Autonomous Driving: A Comprehensive Survey](https://mlsanity.com/paper/2206.09474/) (2022)
- [V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecasting](https://mlsanity.com/paper/2305.05938/) (2023)
- [Collaborative Perception in Autonomous Driving: Methods, Datasets and Challenges](https://mlsanity.com/paper/2301.06262/) (2023)
- [An Extensible Framework for Open Heterogeneous Collaborative Perception](https://mlsanity.com/paper/2401.13964/) (2024)
- [Latency-Aware Collaborative Perception](https://mlsanity.com/paper/2207.08560/) (2022)
- [Collaboration Helps Camera Overtake LiDAR in 3D Detection](https://mlsanity.com/paper/2303.13560/) (2023)
- [Communication-Efficient Collaborative Perception via Information Filling with Codebook](https://mlsanity.com/paper/2405.04966/) (2024)
- [Asynchrony-Robust Collaborative Perception via Bird's Eye View Flow](https://mlsanity.com/paper/2309.16940/) (2023)
- [Spatio-Temporal Domain Awareness for Multi-Agent Collaborative Perception](https://mlsanity.com/paper/2307.13929/) (2023)
- [STAMP: Scalable Task And Model-agnostic Collaborative Perception](https://mlsanity.com/paper/2501.18616/) (2025)
- [CORE: Cooperative Reconstruction for Multi-Agent Perception](https://mlsanity.com/paper/2307.11514/) (2023)
- [Towards Vehicle-to-everything Autonomous Driving: A Survey on Collaborative Perception](https://mlsanity.com/paper/2308.16714/) (2023)
- [RCooper: A Real-world Large-scale Dataset for Roadside Cooperative Perception](https://mlsanity.com/paper/2403.10145/) (2024)
- [Among Us: Adversarially Robust Collaborative Perception by Consensus](https://mlsanity.com/paper/2303.09495/) (2023)
- [Multi-Robot Collaborative Perception with Graph Neural Networks](https://mlsanity.com/paper/2201.01760/) (2022)
- [DI-V2X: Learning Domain-Invariant Representation for Vehicle-Infrastructure Collaborative 3D Object Detection](https://mlsanity.com/paper/2312.15742/) (2023)
- [Collaborative Semantic Occupancy Prediction with Hybrid Feature Fusion in Connected Automated Vehicles](https://mlsanity.com/paper/2402.07635/) (2024)
- [UMC: A Unified Bandwidth-efficient and Multi-resolution based Collaborative Perception Framework](https://mlsanity.com/paper/2303.12400/) (2023)
- [V2XP-ASG: Generating Adversarial Scenes for Vehicle-to-Everything Perception](https://mlsanity.com/paper/2209.13679/) (2022)
- [CoSDH: Communication-Efficient Collaborative Perception via Supply-Demand Awareness and Intermediate-Late Hybridization](https://mlsanity.com/paper/2503.03430/) (2025)
- [V2V-LLM: Vehicle-to-Vehicle Cooperative Autonomous Driving with Multimodal Large Language Models](https://mlsanity.com/paper/2502.09980/) (2025)
- [Interruption-Aware Cooperative Perception for V2X Communication-Aided Autonomous Driving](https://mlsanity.com/paper/2304.11821/) (2023)
- [QUEST: Query Stream for Practical Cooperative Perception](https://mlsanity.com/paper/2308.01804/) (2023)
- [A Survey and Framework of Cooperative Perception: From Heterogeneous Singleton to Hierarchical Cooperation](https://mlsanity.com/paper/2208.10590/) (2022)
- [Learning Cooperative Trajectory Representations for Motion Forecasting](https://mlsanity.com/paper/2311.00371/) (2023)
- [BM2CP: Efficient Collaborative Perception with LiDAR-Camera Modalities](https://mlsanity.com/paper/2310.14702/) (2023)

## 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.