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When autonomous agents interact in the same environment, they must often cooperate to achieve their goals. One way for agents to cooperate effectively is to form a team, make a binding agreement on a joint plan, and execute it. However, when agents are self-interested, the gains from team formation must be allocated appropriately to incentivize agreement. Various approaches for multi-agent negotiation have been proposed, but typically only work for particular negotiation protocols. More generalarXiv:2010.10380v1 fatcat:6ztnplwaoncahmloxr6f25orfi