Automatic construction of general interfaces would be tricky to say the least.
It would surely have to depend on why agentA needs to interface with agentB in the first place—for general data transfer (location , status, random data) it would be fine, but unless both agents had the understanding of each others internal models/goals/thought processes it seems unlikely that they would benefit from a transfer except at an aggregate level
Automatic construction of general interfaces would be tricky to say the least. It would surely have to depend on why agentA needs to interface with agentB in the first place—for general data transfer (location , status, random data) it would be fine, but unless both agents had the understanding of each others internal models/goals/thought processes it seems unlikely that they would benefit from a transfer except at an aggregate level