  Multi-agent systems outperform single agent in complex collaborative tasks.
However, in large-scale scenarios, ensuring timely information exchange during
decentralized task execution remains a challenge. This work presents an online
decentralized coordination scheme for multi-agent systems under complex local
tasks and intermittent communication constraints. Unlike existing strategies
that enforce all-time or intermittent connectivity, our approach allows agents
to join or leave communication networks at aperiodic intervals, as deemed
optimal by their online task execution. This scheme concurrently determines
local plans and refines the communication strategy, i.e., where and when to
communicate as a team. A decentralized potential game is modeled among agents,
for which a Nash equilibrium is generated iteratively through online local
search. It guarantees local task completion and intermittent communication
constraints. Extensive numerical simulations are conducted against several
strong baselines.
