Distributed models of group behaviors generally use advanced communication signals to account for the emergence of coordination in the realization of complex tasks. Here, we rather focus on simple excitation/inhibition based computational models inspired from research on cortical and sensorimotor dynamics. Within an agent, neural assemblies and sensorimotor schemes coordinate and compete to make adapted behaviors emerge. At the social level, individuals can spatially coordinate their actions to transcend their physical limits. Complementary capabilities across individuals can also be sequenced in time to achieve goals that simultaneous actions would hinder.