Before revision:  Our results show up to 60\% communication reduction and 80-92\% computation reduction on average when coordinating up to 10 robots, while outperforming the coordinate descent based algorithm in achieving a desirable trade-off between sensing and energy expenditure .
After revision:  Compared to the naive distributed execution of local search, our approach saves up to 60\% communication reduction and 80-92\% computation reduction on average when coordinating up to 10 robots, while outperforming the coordinate descent based algorithm in achieving a desirable trade-off between sensing and energy expenditure .