In systems which complete a goal by agent cooperation, i.e. a multi-agent system, the communication between agents is a very important problem. To solve a problem by the agent cooperation, the communication between agents is necessary and indispensable. We introduce a model which consists of many agents. These agents have limited communication ability. They complete a goal in cooperation with each other. This model is the extension of the ant algorithm. In this model, it is possible that the communication between the agents may fail. The agents have to communicate differently using traditional methods; the agents have some communication abilities, called the sensing communication abilities. We evaluate the condition of cooperation between agents in the limited communication environment and the effect of the communication methods.
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