# CoCo Games: Graphical Game-Theoretic Swarm Control for Communication-Aware Coverage

arXiv: https://arxiv.org/abs/2111.04576 · HTML: https://mlsanity.com/paper/2111.04576/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 6 of its 32 references that are in the map.
- First posted on arXiv 8 Nov 2021.

## Builds on (most cited first, 6 of 6)

- [Graphical Models for Game Theory](https://mlsanity.com/paper/1301.2281/) (2013)
- [Mobile Wireless Network Infrastructure on Demand](https://mlsanity.com/paper/2002.03026/) (2020)
- [UAV-Assisted Heterogeneous Networks for Capacity Enhancement](https://mlsanity.com/paper/1604.02559/) (2016)
- [Graphical Potential Games](https://mlsanity.com/paper/1505.01539/) (2015)
- [Correlated Equilibria for Approximate Variational Inference in MRFs](https://mlsanity.com/paper/1604.02737/) (2016)
- [Online Flocking Control of UAVs with Mean-Field Approximation](https://mlsanity.com/paper/2103.15241/) (2021)

## Built on by (most cited first, 2 of 2)

- [Graph Attention Multi-Agent Fleet Autonomy for Advanced Air Mobility](https://mlsanity.com/paper/2302.07337/) (2023)
- [Physical Agentic AI: An Architecture for Orchestrating a Robot Crew with LLMs](https://mlsanity.com/paper/2608.22657/) (2026)

## Abstract (arXiv)

We propose a novel framework for real-time communication-aware coverage control in networked robot swarms. Our framework unifies the robot dynamics with network-level message-routing to reach consensus on swarm formations in the presence of communication uncertainties by leveraging local information. Specifically, we formulate the communication-aware coverage as a cooperative graphical game, and use variational inference to reach mixed strategy Nash equilibria of the stage games. We experimentally validate the proposed approach in a mobile ad-hoc wireless network scenario using teams of aerial vehicles and terrestrial user equipment (UE) operating over a large geographic region of interest. We show that our approach can provide wireless coverage to stationary and mobile UEs under realistic network conditions.