Designing the decision-making engine of a robot which works in a collaborative team is a challenging task. This is not only due to the complexity of the environment uncertainty, dynamism and imprecision, but also because of the coordination of the team has to be included in this design. The robots must be aware of other robots' actions in order to cooperate and to successfully achieve their common goal. In addition, decisions must be made in real-time and using limited computational resources. In this chapter we propose some novel algorithms for action selection in ambiguous tasks where the communication opportunities among the robots are very limited.