“…For a team of m agents G A , we define the time schedule of the team as a set of real numbers T = {α i,0 , α i,i , α S∪{i} : i ∈ A, S ⊆ A \ {i}, |S| ≥ 1}, where all α i,0 , α i,i and α S∪{i} fulfill the constraint expressed by (1). Given a team G A and its time schedule T , the overall structure of the team is settled, i.e.…”