@article{safeheterogeneousmultiagentrlwithcommuni,
  title = {Safe Heterogeneous Multi-Agent RL with Communication Regularization for Coordinated Target Acquisition},
  author = {Gabriele Calzolari and Vidya Sumathy and Christoforos Kanellakis and George Nikolakopoulos},
  year = {2026},
  eprint = {2601.08327},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2601.08327},
}