*4.1. Dynamic Coalitions*

The dynamic environment, as described above, implies a need for a highly flexible team organization and collaboration infrastructure. Team membership must be managed to cope with varying team membership. The capabilities of the team as a whole may change if robots leave, join, or experience a breakdown of components or the whole robot. We need a semantic description of the capabilities that are currently available in the team; consequently, we need reasoning about the appropriate dynamic allocation of tasks to team members and the modification of execution plans. All of this should be supported by the teamwork collaboration infrastructure such that the developer is relieved as much as possible from the nitty-gritty details. The individual building blocks for such an infrastructure are known. However, one difficult engineering question remains: how can the different independently developed pieces be put together?
