https://www.sciencedaily.com/releases/2022/07/220725124120.htm

"It's easier when agents can talk to each other," said Huy Tran, an aerospace engineer at Illinois. "But we wanted to do this in a way that's decentralized, meaning that they don't talk to each other. We also focused on situations where it's not obvious what the different roles or jobs for the agents should be."

Tran said this scenario is much more complex and a harder problem because it's not clear what one agent should do versus another agent.