# CoCoPlan: Adaptive Coordination and Communication for Multi-robot Systems in Dynamic and Unknown Environments

arXiv: https://arxiv.org/abs/2601.10116 · HTML: https://mlsanity.com/paper/2601.10116/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 15 Jan 2026.

## Built on by (most cited first, 1 of 1)

- [MemoGuard: An Adaptive Runtime for Guarding Against Memory Traps in Communication-Limited Robot Navigation](https://mlsanity.com/paper/2607.15589/) (2026)

## Abstract (arXiv)

Multi-robot systems can greatly enhance efficiency through coordination and collaboration, yet in practice, full-time communication is rarely available and interactions are constrained to close-range exchanges. Existing methods either maintain all-time connectivity, rely on fixed schedules, or adopt pairwise protocols, but none adapt effectively to dynamic spatio-temporal task distributions under limited communication, resulting in suboptimal coordination. To address this gap, we propose CoCoPlan, a unified framework that co-optimizes collaborative task planning and team-wise intermittent communication. Our approach integrates a branch-and-bound architecture that jointly encodes task assignments and communication events, an adaptive objective function that balances task efficiency against communication latency, and a communication event optimization module that strategically determines when, where and how the global connectivity should be re-established. Extensive experiments demonstrate that it outperforms state-of-the-art methods by achieving a 22.4% higher task completion rate, reducing communication overhead by 58.6%, and improving the scalability by supporting up to 100 robots in dynamic environments. Hardware experiments include the complex 2D office environment and large-scale 3D disaster-response scenario.