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This book presents an overview of formal decision making methods for decentralized cooperative systems. It is aimed at graduate students and researchers in the fields of artificial intelligence and related fields that deal with decision making, such as operations research and control theory. While we have tried to make the book relatively self-contained, we do assume some amount of background knowledge. In particular, we assume that the reader is familiar with the concept of an agent as well as search techniques (like depth-first search, A*, etc.), both of which are standard in the field of artificial intelligence [Russell and Norvig, 2009]. Additionally, we assume that the reader has a basic background in probability theory. Although we give a very concise background in relevant single-agent models (ie, the ‘MDP’and ‘POMDP’frameworks), a more thorough understanding of those frameworks would benefit the reader. A …