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

Source: [CoCo Games: Graphical Game-Theoretic Swarm Control for Communication-Aware Coverage](<https://www.sota2.com/research/paper/68fa6c611e209131cea33b6b>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2025-10-26T00:09:48.320Z

Authors: Malintha Fernando, Ransalu Senanayake, Martin Swany

Published: 2021-11-08T15:37:15.000Z

## Abstract

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.

## Recorded benchmark results

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## Original sources and implementation

[Original paper](<https://arxiv.org/abs/2111.04576>)

[PDF](<https://arxiv.org/pdf/2111.04576.pdf>)