  Decentralized cooperative resource allocation schemes for robotic swarms are
essential to enable high reliability in high throughput data exchanges. These
cooperative schemes require control signaling with the aim to avoid half-duplex
problems at the receiver and mitigate interference. We propose two cooperative
resource allocation schemes, device sequential and group scheduling, and
introduce a control signaling design. We observe that failure in the reception
of these control signals leads to non-cooperative behavior and to significant
performance degradation. The cause of these failures are identified and
specific countermeasures are proposed and evaluated. We compare the proposed
resource allocation schemes against the NR sidelink mode 2 resource allocation
and show that even though signaling has an important impact on the resource
allocation performance, our proposed device sequential and group scheduling
resource allocation schemes improve reliability by an order of magnitude
compared to sidelink mode 2.
