LLM-based agents are increasingly used to complete complex, long-horizon tasks without human intervention. To make progress toward the task goal, agents need to perform different duties, such as planning and verification, when needed. To understand how single agents manage these duties during long-horizon execution, we conduct a preliminary study. Our analysis shows that verification has the strongest association with task success, but often occurs late, leaving limited opportunities for correction. We also find that the proportion of duty-relevant information decreases as records from different duties accumulate in a shared context. These findings lead us to examine whether multi-agent systems (MAS) can address these problems by assigning duties to agents with separate contexts. Our analysis shows that this separation alone is insufficient. Agents can lose track of the overall goal and repeat prior investigations. They may also lack necessary background while receiving irrelevant information from others. To maintain goal awareness and coordinate collaboration as task needs change, we propose Goal-Aware Dynamic Multi-Agent Collaboration (GAD). It uses a growing execution graph to organize subtasks and their dependencies. To keep agents focused on their goals, each context retains the original instruction and the assigned task's goal and acceptance conditions. To adapt collaboration and information sharing during execution, agents can divide tasks into subtasks and specify dependencies based on execution evidence. These dependencies guide when agents work and which results they receive. Verification and recovery check subtask results and full task completion against their goals, providing feedback for repair when checks fail.

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