Common to all players, the locker-room agreement defines the team structure while team members are acting in a time-critical environment with low bandwidth communication. In this section, we introduce a structure for capturing locker-room agreements. It defines sets of agent roles with protocols for switching among them. It can also define multi-step multi-agent plans for execution in specific situations. It indirectly affects the agent external behaviors by changing the agents' internal states via internal behaviors.
Our teamwork structure involves flexible roles that are organized into formations, which we now introduce.