Pantelic was dropped for Serbia's 1-1 home draw with France last month after an out-of-form spell but the suspension of Danko Lazovic, who was sent off against the French, forced Antic to name the Ajax striker in his 23-man squad on Friday.
Serbia are top of Group Seven with 19 points from eight games and need to win one of their remaining two qualifiers to seal a berth in next year's finals in South Africa.
Goalkeepers: Vladimir Stojkovic (Sporting), Vladimir Disljenkovic (Metalurg Donetsk), Bojan Isailovic (Cukaricki Belgrade)
Defenders: Branislav Ivanovic (Chelsea), Antonio Rukavina (Munich 1860), Nemanja Vidic (Manchester United), Neven Subotic (Borussia Dortmund), Aleksandar Lukovic (Udinese), Ivica Dragutinovic (Sevilla), Ivan Obradovic (Real Zaragoza), Aleksandar Kolarov (Lazio)
Midfielders: Dejan Stankovic (Inter Milan), Gojko Kacar (Hertha Berlin), Nenad Milijas (Wolverhampton Wanderers), Zdarvko Kuzmanovic (VfB Stuttgart), Radosav Petrovic (Partizan Belgrade), Milos Krasic (CSKA Moscow), Zoran Tosic (Manchester United), Milos Ninkovic (Dynamo Kiev)
Strikers: Nikola Zigic (Valencia), Marko Pantelic (Ajax Amsterdam), Milan Jovanovic (Standard Liege), Marko Milinkovic (Kosice).
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