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In this paper we present a novel method for visual scanning and target tracking by means of independent pan-tilt cameras which mimic the chameleon visual system. We present a systematic and optimization-based approach to the problem, from the high-level to the low-level control. In particular, in the first part we develop a new algorithm for scanning the sphere using multiple cameras. The algorithm combines information about the environment and a model of target movement, to perform optimaldoi:10.1109/iros.2006.282031 dblp:conf/iros/AvniBKRR06 fatcat:ot5s2jp64bcfdl2hmpcn7fda5m