In this paper we focus on methods for a reliable and robust mechanism to distribute roles among a team of cooperating robots. In previous work, we showed the principal applicability of a novel approach based on self organization using coupled selection equations. To show the applicability in the robocup scenario we used a simple scenario to assign the roles attacker and defender. In this paper we present the application of the novel approach to more realistic and complex scenarios like kick-off or pass play. One of the critical parts in this method is the parameterization of utility and activation functions used to determine the additional parameters.