In recent years, robot team systems have been growing as a new domain in robotic. Researches in this field have been done more about single robot systems, however, by technology development and necessity of using stable and flexible systems with higher performance, robot team systems were suggested in which some robots cooperate with each other to perform a mission. Path planning of robot teams for single or multi-target tracking has attracted attention of researchers as an important field in such systems. However, utilizing robot team systems have many issues and challenges along and control of these systems may be complex. In this research, the problems of path planning and coordination control of a cooperative mobile robot team for multi-target tracking are studied. The environment is dynamic and time-variant and robots are required to choose and pursue appropriate target while avoiding any collision with obstacles and other robot teammates. Thus, some major issues are important for motion planning of robots in this research: 1) choosing appropriate target for each robot 2) pursuing selected target properly 3) avoiding collision with static and moving obstacles 4) avoiding collision with other robot teammates 5) switching target capability by robots according to the dynamic environment conditions. Potential field approach is used for the path planning of robot team in this thesis. This method has been widely used for mobile robot path planning due to its simplicity, simultaneous goal seeking and obstacle avoidance behaviors, real time application and elegant results. The potential field method constructs an attractive potential field to direct the robot toward its goal and meanwhile it has the ability to construct high potential fields surrounding obstacles to avoid collision with them. The approach is utilized in this research with some modificatio a velocity term considering velocities of robot and target, a distributing mission coefficient for selecting appropriate target for each robot, and also a repulsive potential force for collision-free movement of robots with other teammates (in addition to obstacles) are added to the conventional potential field. For the purpose of robots coordination control, a basic coordination mechanism for choosing targets based on the distance between robot and target is proposed. This mechanism predicts any number of robots and targets. Besides, importance of targets to be tracked is also considered according to each target weight and by introducing a cost parameter. Moreover, for targets which are necessarily needed to be followed by one or some robots, another coordination mechanism is proposed. Finally a method for coordination control is introduced based on the time estimation parameter of a robot to reach a target and compared with the distance-based coordination control in all cases of equiponderant, weighted and essential target pursuit. Simulations are presented for all of the above mentioned cases. Comparison between distance-based and estimation time-based mechanism performances shows significant improvements in robots system performance by using time estimation parameter; Some of them are lower distance travelled by robots to reach targets, lower time elapsed to get targets and lower mean velocity of robots due to better choosing targets. Key Words Path planning, Coordination control, Potential Field, Multi-target tracking, Time estimation