Abstract: This work addresses the problem of application-layer congestion control in multi-robot systems (MRS). It is motivated by the fact that many MRS constrain the amount of transmitted data in order to avoid congestion in the network and ensure that critical messages get delivered. However, such constraints often need to be manually tuned and assume constant network capabilities. We introduce the adaptive goodput constraint, which smoothly adapts to varying communication conditions. It is suitable for long-term communication planning, where rapid changes are undesirable. We analyze the introduced method in a simulation-based study and show its practical applicability using mobile robots.