The coordination of teams of cooperating but autonomous agents is a core problem in multiagent systems research. A team of agents is jointly able to achieve a goal if despite any incomplete knowledge or even false beliefs that they may have about the world or each other, they still know enough to be able to get to a goal state, should they choose to do so. Unlike in the single-agent case, the mere existence of a working plan is not sufficient since there may be several incompatible working plans and the agents may not be able to choose a share that coordinates with the others'.