“…However, none of these systems utilize machine-learningbased policies, and only few learning-based methods have demonstrated real-world experiments [5]. Although numerous works at the intersection of machine-learning and multirobot control show remarkable performance [5], [6], [10], [25], [26], [27], little work has been done to show how these methods can be made practicable (i.e., in the real-world). Of particular interest to us is how explicit inter-robot communication [9], [10], [28] plays a role in accumulating information from other robots.…”