Planning (Module 3) is a good way forward when there is a single decision maker to termine which action is taken by which actors at any given time. In practice, it is not always so. The situation may call for a collaboration among multiple decision makers and, often, the setting is actually a competitive one in which everyone's interests do not align.
The mathematical study of these situations is called game theory, whether competitive or collaborative. Computational intelligence that needs to make decisions with multiple cooks in the metaphorical kitchen generally benefits from incorporating these concepts into its design.