This paper presents and evaluates a decision making framework that enables autonomous agents to dynamically select the mechanism they employ in order to coordinate their inter-related activities. Adopting this framework means coordination mechanisms move from the realm of something that is imposed upon the system at design time, to something that the agents select at run-time in order to fit their prevailing circumstances and their current coordination needs. Using this framework, agents make informed choices about when and how to coordinate and when to respond to requests for coordination. The framework is empirically evaluated, in a grid world scenario, and we highlight those types of environments in which it is effective.