Various aspects described herein relate to techniques for communications in a coordinated multi-point (CoMP) wireless communications system. In an aspect, a method of wireless communications may include receiving a request to form a CoMP cluster set of transmit/receive points (TRPs) for a user equipment (UE), determine the CoMP cluster set of TRPs for the UE based on at least a delay budget and a reliability requirement, and one or more of configuration information and measurements, and coordinate communications for the UE using the CoMP cluster set. The techniques described herein may apply to different communications technologies, including 5th Generation (5G) New Radio (NR) communications technology.