In a method performed by a first node, the node determines a plan based on: i) a first goal to be achieved according to capabilities of the first node, and a first set of first actions to be performed by the first node to achieve the first goal, and ii) for each second node of one or more second nodes: a) a respective goal to be achieved according to respective capabilities of each second node, and b) a respective set of first actions to be individually performed by each second node to achieve the respective goal. The plan is to collaboratively achieve each of the respective goals and the first goal, by determining a respective set of second actions to be respectively performed by each second node and the first node. The first node sends a respective indication indicating the determined second actions.