  The coordination of autonomous agents is a critical issue for decentralized
communication networks. Instead of transmitting information, the agents
interact in a coordinated manner in order to optimize a general objective
function. A target joint probability distribution is achievable if there exists
a code such that the sequences of symbols are jointly typical. The empirical
coordination is strongly related to the joint source-channel coding with
two-sided state information and correlated source and state. This problem is
also connected to state communication and is open for non-causal encoder and
decoder. We characterize the optimal solutions for perfect channel, for
lossless decoding, for independent source and channel, for causal encoding and
for causal decoding.
