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Observation-Based Multi-Agent Planning with Communication

Models of decentralized online planning vary in the information that individual agents use to make local action decisions. Some models consider only local observations, eschewing coordination through communication. Others use communication to ensure that all agents are aware of the action decisions of others, but assume costless and delay-free communication. In this paper, we propose a model of online planning (OB-MAP) that uses estimates of the value of communicating to manage coordination through communication as costs vary. We compare this approach to existing models in widely employed benchmark problems, demonstrating that OB-MAP performs significantly better in many scenarios regardless of varying (including infinite) cost of communication.