Collaborative perception is dedicated to tackling the constraints of single-agent perception, such as occlusions, based on the multiple agents' multi-view sensor inputs. However, most existing works assume an ideal condition that all agents'
In contrast, we design a new (inefficient) algorithm, GreedyCohesiveClustering, which achieves the relaxation FJR exactly under arbitrary loss functions, and show that the efficient GreedyCapture algorithm achieves a constant approximation of FJR.