While previous work has mostly focused on tracking individual agents, this paper goes beyond by focusing on agent teams.
Team tracking poses the challenge of tracking a team's joint goals and plans.
A great deal of work has been done in the area of plan recognition. Tracking dynamic team activity. In Proceedings of the Thirteenth National Conference on Artificial Intelligence, Menlo Park, California, 1996. The robot world cup initiative - Kitano, Asada et al. Doc 34 Modsaf behavior simulation and control - Calder, Smith et al.