A method is provided for choosing an action of an agent in a first team that competes against a second team. The method includes determining an action, based on first, second and third types of local payoff matrices. The method further includes performing the action. The determining step includes representing, by the first type of local payoff matrices, a payoff to the first team due to a pairwise interaction between agent teammates of the first team. The determining step further includes representing, by the second type of local payoff matrices, a payoff to the first team due to a pairwise interaction between agent opponents from the first team and the second team. The determining step also includes representing, by the third type of local payoff matrices, a payoff to the first team due to a pairwise interaction between agent teammates of the second team.