Research in coordination theory focuses on theories of distributed constrained heuristic search where constraints are used as basis for communication, influencing, coordination and negotiation in large multi-agent distributed problems. This research is based on earlier research that explored how constraint graphs can be used to construct an “approximate topology” of a problem space, the development of problem space complexity measures for focusing search in the problem space, tradeoffs between precision and uncertainty in decision making, and reformulation of the problem space structure in order to increase the efficiency of problem.