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In this paper, we describe ongoing work on understandable teams of robots collaborating to solve a common task while communicating their current, suggested or planned actions in natural language to human bystanders. We propose an algorithm for generating optimal sequences of partitions to be used by the robots to generate natural language utterances. These optimal sequences of partitions maintain the conversational principle of informativeness proposed by Grice.We further propose a method to incorporate policies, such as a uniform distribution of workload.