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at a very low altitude ( nap-of-the-earth flight), though at a lower speed than at its typical, higher altitude. In this scenario, Escort will not worry about detection, given its superior firepower; therefore, it will fly at a fast speed at its typical altitude.

The two agents form a top-level joint commitment, GD, to reach their destination.

There is no incentive for the agents to communicate the achievement of this goal, since they will both eventually reach their destination with certainty. However, in the service of their top-level goal, G D , the two agents also adopt a joint commitment, G R , of destroying the radar unit. We consider here the problem facing Escort with respect to communicating the achievement of goal, G R . If Escort communicates the achievement of G R , then Transport knows that it is safe to fly at its normal altitude (thus reaching the destination sooner).

If Escort does not communicate the achievement of GR, there is still some chance that Transport will observe the event anyway.  If Transport does not observe the achievement of G R , then it must fly nap-of-the-earth the whole distance, and the team receives a lower reward because of the later arrival. Therefore, Escort must weigh the increase in expected reward against the cost of communication.

In the COM-MTDP model of this scenario (presented in Figures 2, 3 and 4), the world state is the position (along a straight line between origin and destination) of Transport, Escort, and the enemy radar. The enemy is at a randomly selected position somewhere in between the agents' initial position and their destination.  Transport has no possible communication actions, but it can choose between two domain-level actions: flying nap-ofthe-earth and flying at its normal speed and altitude. Escort has two domain-level actions: flying at its normal speed and destroying the radar. Escort also has the option of communicating the special message, σ G n , indicating that the radar has been destroyed. In the tables of Figures 2, 3 and 4, the "." symbol represents a wild-card (or "don't care") entry.

If Escort arrives at the radar, then it observes its presence with certainty and can destroy it to achieve GR. The likelihood of Transport's observing the radar's destruction is a function of its distance from the radar.  We can vary this function's observability parameter