I was reading this paper. It's lot hard to implement. Complexity goes beyond my understanding implementing cooperative agents. https://cdn.discordapp.com/attachments/1173652086160892004/1200714153371897936/cooperation-structure-of-multiagent-and-algorithms.pdf?ex=65c72f32&is=65b4ba32&hm=6d546d219f351d9adc085be66f27576a4dfa5903b2af5faabae26e04011d913b&