  This paper re-visits a multi-agent deployment problem where agents are
restricted from requesting information from other agents as well as sending
acknowledgments when information is received. These communication constraints
relax the assumptions of instantaneous communication and synchronous actions by
agents (request and response actions). In this paper, we propose a fully
asynchronous communication aware solution to the multi-agent deployment problem
that uses an event-triggered broadcasting strategy. Unlike all existing
triggered solutions, our event-triggered broadcasting algorithm relies on
agents to decide when to broadcast (push) information to others in the network
without the need for a response from other agents. In addition, the proposed
strategy determines how best to move when up-to-date information is unavailable
and cannot be requested. The algorithm is capable of achieving similar levels
of performance to that of a continuous or periodic strategy. Our solution is
proven to achieve asymptotic convergence and simulation results are provided to
demonstrate that the proposed event-triggered broadcasting algorithm can
achieve an adequate level of performance under the communication constraints.
