As robots become more and more capable, we will begin to invite them into our daily lives. There have been few examples of mobile robots able to carry out everyday tasks alongside humans. Though research on this topic is becoming more and more prevalent, we are just now beginning to understand what it means to collaborate. This project aims to unravel the dynamics involved in taking on leadership roles in collaborative tasks as well as balancing and maintaining the expectations of each member of the group (whether it be robot or human). This challenge involves aspects of inferring internal human state, role support and planning, as well as optimizing and keeping synchrony amongst team members "tight" in their collaboration.