We present a key set of issues that arise assuming our particular two tiered planning and plan-execution approach to teamwork. Of course, those who approach the problem from different perspective may have different issues, and the issues may change depending on the type of architecture employed. Uncertainty in the action specification is directly related to the identification of possible probabilistic disruptive or favorable external events. Definition of objectives to achieve. In this domain, the goal of winning and scoring should be decomposed in a variety of more concrete goals that serve the ultimate final scoring goal.
Examples are actions and goals to achieve specific attacking or defending positioning.
The team plan decomposition may create individual goals that are not necessarily known to all the team players. The decomposition, coordination, and appropriate merge of individual plans to the service of the main team plan remain open challenging research tasks. It addresses the coordination contigencies that arise during the execution, without the need for detailed, domain-specific coordination plans. Execution also monitors the contingency conditions that are part of the global contingency team plan. Selection of the appropriate course of action is driven by the state information gathered by execution.