Enforcing range reliability for information shared via wireless transmissions

An ego vehicle determines an intended maneuver and identifies a first set of agents for coordinating the intended maneuver. The ego vehicle also determines a spatial distance for obtaining a level of communication reliability with the set of agents that is greater than a communication reliability threshold. The ego vehicle further applies the determined spatial distance to a sensor-sharing message. The ego vehicle also transmits the sensor-sharing message to a second set of agents within the determined range. The ego vehicle performs the intended maneuver.