Coordination of multiple agents for probabilistic object tracking

In this paper, we develop a new tracking approach which is based on cooperation and coordination of multiple agents which are pan-tilt-zoom cameras to optimize the cost of tracking and communication while simultaneously focus on the details of the object of interest. Each agent is able to track the object individually but the problem arises when the object goes suddenly out of the field of view of one agent because of an occlusion or an unexpected event. So each agent has to decide to take an action among a set of finite possible actions to overcome this situation in a way that optimizes the task of tracking.