In the previous chapter we elaborated on the inner and outer views of the Designer and the Field Robot. In this Chapter, we discuss consequences from this in the framework of multi-robot coordination. Also, in the previous chapter we identified the connectivity between the POMDP and the conceptual decision making on the level of detailness the Field Robot can choose in the online operation. However, as we will see from the discussions in this Chapter, the POMDP formulation is not sufficiently generic, in terms of the formulation of the process of finding solutions for it. Therefore, we identify the Potts model as a generic replacement, which finally allows us to formulate a completely holistic model from which we will derive autonomy metrics in the next chapter.