I. INTRODUCTION
The ability for a team of robots to coordinate their actions when pursuing common goals can offer significant performance advantages when compared to the same team of robots acting individually [1]. This paper is motivated by an application where a team of mobile robots is tasked to localise a set of point targets. The sensors which the robots use to localise the targets have a limited field of view, but can rotate to face any direction (e.g. using a pan-tilt gimbal). In this situation, each robot must make two decisions, which direction to travel in and what target it should point its sensor at. Typically, the first decision is made in continuous space, for example the steering angle on a ground vehicle or the bank angle on an aerial vehicle, while the second decision is made in discrete space.