Various aspects of the present disclosure generally relate to wireless communication. In some aspects, a user equipment (UE) may identify that a sidelink communication is to be transmitted by the UE prior to a next sensing results sharing opportunity associated with a collaborative sensing schedule that is associated with resource selection for sidelink communications for a group of UEs that includes the UE. The UE may select resources for the sidelink communication. The UE may transmit the sidelink communication using the resources. Numerous other aspects are described.