This video illustrates a complete methodology for generating multi-robot
task solutions that can be strongly-cooperative or weakly-cooperative,
in the same application.  Specifically, the video shows two robots 
performing a site clearing task, requiring three boxes to be pushed to 
the edges of the environment.  One of the boxes requires both robots to 
push simultaneously, meaning that the solution must be strongly cooperative, 
while the other boxes can be pushed by a single robot at a time, which
is a weakly cooperative solution.  The robots decide online which box
to push, or to help push, based on the capabilities of the robot team 
members and the requirements of each box pushing task.  