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A striking aspect of human coordination is that we achieve it with little or no communication. We achieve this implicit coordination by taking the perspective of others and inferring their intentions. In contrast, robots usually coordinate explicitly through the extensive communication of utilities or intentions. In this paper we present a method that combines both approaches: implicit coordination with shared belief. In this approach, robots first communicate their beliefs about the worlddoi:10.1163/016918610x496964 fatcat:wpxtknmjtng6tnanqf2jcdu4zq