Graeme Best1, Michael Forrai2, Ramgopal Mettu3, Robert Fitch4,1 Planning-Aware Communication for Decentralised Multi-Robot Coordination Graeme Best1, Michael Forrai2, Ramgopal Mettu3, Robert Fitch4,1 1 ACFR, The University of Sydney, Australia 2 AMME, The University of Sydney, Australia 3 Dept. CS, Tulane University, USA 4 CAS, University of Technology Sydney, Australia Scheduling effective use of communication resources during multi-robot planning Reason over predicted information value of communication using particle filter and dynamic programming Experiments for coordinated information gathering in the context of Dec-MCTS Reasonable coordination performance with only ⅕ of the communication rate