In multi-agent systems, a communication process is essential among agents to interact and coordinate their actions, and thus achieve their goal. However, communication has a related cost which affects the overall system performance. In this thesis, we draw inspiration from studies of the epistemic planning framework to develop a communication model for agents that allows them to cooperate and make communication decisions effectively within a multi-agent planning task. Our approach aims to develop a compact model that involves a communication action to be a part of planning task as a natural action. In simulated tasks motivated by a disaster scenario, we aim to investigate whether agents can cooperate effectively and achieve higher performance using a proposed communication model (a selective model).