The design of the control laws governing the behavior of individual agents is crucial for the successful development of cooperative agent teams. These control laws may utilize a combination of local and/or global knowledge to achieve the resulting group behavior. A key difficulty in this development is deciding the proper balance between local and global control required to achieve the desired emergent group behavior. This paper addresses this issue by presenting some general guidelines and principles for determining the appropriate level of global versus local control. These principles are illustrated and implemented in a "keep formation'' cooperative task case study.
