Short phases of tropical forage legumes increase production of subsequent cereal crops in the seasonally dry tropics of eastern Indonesia

•Tropical forage legumes were grown in rotation or relays with maize and rice.•Subsequent maize yields increased by up to 80 % if legumes were retained as mulch.•Maize yield increased less (15−35% higher) after legume forage was harvested.•Forage legumes grown in rotation with rice increased subsequent yields by 40–70 %.•Clitoria ternatea proved the most beneficial forage legume for diverse systems.