Papers › When2com: Multi-Agent Perception via Communication Graph Grouping

When2com: Multi-Agent Perception via Communication Graph Grouping

30 May 2020CVPR 2020 6arXiv:2006.00176archive 2025-07-28

Yen-Cheng Liu, Junjiao Tian, Nathaniel Glaser, Zsolt Kira

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.

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