Are there any examples available of how agents can communicate with oneanother?
Not especially, but agent-agent communication is no different from agent-webservice communication: they interact via REST API. You write the API to meet the needs of your application. Each agent has an HTTPS request handler to process incoming requests, and used the http object to make requests of the other agent. It’s not complicated to set up on each agent an array of the agents (ie. their URLs) it’s in contact with.
Look at the agent-internet and internet-agent examples in the Dev Center’s Sample Code section and the ‘Effective Internet-agent-device Communication’ Developer Guide.