This paper describes a decentralized Bayesian approach to coordinating multiple autonomous sensor platforms searching for a single non-evading target. In this architecture, each decision maker builds an equivalent representation of the target state PDF through a Bayesian DDF network enabling him or her to coordinate their actions without exchanging any information about their plans. The advantage of the approach is that a high degree of scalability and real time adaptability can be achieved. The effectiveness of the approach is demonstrated in different scenarios by implementing the framework for a team of airborne search vehicles looking for a stationary, and a drifting target lost at sea.
and looks like the type of approach I was mentioning earlier. This one article takes as a starting point the tragedy of the 1979 Fastnet race. As it turns out, another Tenacious won that race. I will be sharing my thoughts on this technique and other possible improvements in a future entry. A related subject of interest is sensor networks since we had a mix of different sensors watching the same areas at different times.
 Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on. Publication Date: 27-31 Oct. 2003, Volume: 1, On page(s): 48- 53 vol.1.