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Abslrael-This paper addresses the problem of m r d inating a team of multiple heterogeneous sensing platforms searching for a single lost target. In this approach, the utility of a control sequence is a function of the probability density function (PDF) of the target slate. Each decision maker builds an equivalent atimate of thb PDF by communicating and fusing the information from the other sensor nodes. Coupled utilities incite the agents to coUahorate and to agree on the nehi best set of actions. Decentralized cooperative planning Is achieved via anon)-mous negotiation based on communication of expected observed infarmation. Simulation results demonstrate the efficiency of the cooperative trajeclories for a team of autonomous airborne search vehicles. 0-7803-M634104!$20.00 02004 IEEE

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