This project addresses the challenge of developing effective and computational efficient inference and coordination algorithms in order to allow multiple mobile (and stationary) sensors to form agile teams such that they can efficiently represent, explore and search challenging, uncertain and dynamic environments. Working in collaboration with the University of Oxford, the project will combine fundamental theory, algorithms and methodologies from the fields of multi-agent systems, decentralised control and Bayesian inference to allow physically distributed autonomous sensors to make effective, timely and coordinated decisions.