Abstract: Agents with partial obscrvability need to share information to achieve decentralized coordination. However, in resource-constrained systems,indiscriminate communication can create performance bottlenecks by consuming valuable bandwidth. Therefore, there is a tradeoff between the utility attained by communication and its cost. Here we addressed this tradeoff by developing a novel strategy to make communication selective based on information redundancy, ensuring communication only occurs when necessary, while maintaining acceptable coordination.

Key words: Selective communicate, Multi-Agent system, Communication cost, Resorce