Robot soccer is a challenging domain for sensor fusion and object tracking techniques, due to its team oriented, fast-paced, dynamic and competitive nature. Since each robot has a limited view about the world surrounding it, the sharing of information with its teammates is often crucial in order to be ready to react to situations which might involve it in the near future. In this paper we propose a Particle Filter based approach that addresses the problem of cooperative global sensor fusion by explicitly modeling the uncertainty concerning the robots’ positions, the data association about the tracked object, and the loss of information over the network.