A correspondence between team actions and goals and individual actions and goals must be set. The team plan decomposition may create individual goals that are not necessarily known to all the team players. Furthermore, within the contingency team plan, it is expected that there may be a variety of adversary-independent and adversary-dependent goals. The decomposition, coordination, and appropriate merge of individual plans to the service of the main team plan remain open challenging research tasks. RoboCup provides an excellent framework to study these issues.