The problem of controlling multi-agent systems under different models of information sharing among agents has received significant attention in the recent literature. In this paper, we consider a setup where rather than committing to a fixed information sharing protocol (e.g. periodic sharing or no sharing etc), agents can dynamically decide at each time step whether to share information with each other and incur the resulting communication cost. This setup requires a joint design of agents communication and control strategies in order to optimize the trade-off between communication costs and control objective. We first show that agents can ignore a big part of their private information without compromising the system performance. We then provide a common information approach based solution for the strategy optimization problem. This approach relies on constructing a fictitious POMDP whose solution (obtained via a dynamic program) characterizes the optimal strategies for the agents. We also show that our solution can be easily modified to incorporate constraints on when and how frequently agents can communicate.
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