 Apart from logics to specify attitudes of single agents, also work has been done to describe the attitudes of multi-agent systems as wholes. First we mention the work by Cohen &amp; Levesque in this direction (Levesque et al. 1990, Cohen and Levesque 1991). This work was a major influence on a multi-agent version of KARO (Aldewereld et al. 2004). An important complication in a notion of joint goal involves that of persistence of the goal: where in the single agent case the agent pursues its goal until it believes it has achieved it or believes it can never be achieved, in the context of multiple agents, the agent that realizes this, has to inform the others of the team about it so that the group/team as a whole will believe that this is the case and may drop the goal. This is captured in the approaches mentioned above. Related work, but not a logic of action in the strict sense, concerns the logical treatment of collective intentions (Keplicz and Verbrugge 2002).