# Communication-Aware Multi-robot Coordination with Submodular Maximization

arXiv: https://arxiv.org/abs/2011.01476 · HTML: https://mlsanity.com/paper/2011.01476/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 3 Nov 2020.

## Built on by (most cited first, 4 of 4)

- [Large Language Models for Multi-Robot Systems: A Survey](https://mlsanity.com/paper/2502.03814/) (2025)
- [ORBSLAM3-Enhanced Autonomous Toy Drones: Pioneering Indoor Exploration](https://mlsanity.com/paper/2312.13385/) (2023)
- [Bridging the Gap Between General and Down-Closed Convex Sets in Submodular Maximization](https://mlsanity.com/paper/2401.09251/) (2024)
- [Robots as Tokens: Unified Diffusion Transformer for Coordinated Multi-Robot Trajectory Generation](https://mlsanity.com/paper/2606.15550/) (2026)

## Abstract (arXiv)

Submodular maximization has been widely used in many multi-robot task planning problems including information gathering, exploration, and target tracking. However, the interplay between submodular maximization and communication is rarely explored in the multi-robot setting. In many cases, maximizing the submodular objective may drive the robots in a way so as to disconnect the communication network. Driven by such observations, in this paper, we consider the problem of maximizing submodular function with connectivity constraints. Specifically, we propose a problem called Communication-aware Submodular Maximization (CSM), in which communication maintenance and submodular maximization are jointly considered in the decision-making process. One heuristic algorithm that consists of two stages, i.e. textittopology generation and textitdeviation minimization is proposed. We validate the formulation and algorithm through numerical simulation. We find that our algorithm on average suffers only slightly performance decrease compared to the pure greedy strategy.