In the past two decades, rapid advances in miniaturizing of computing, communication, sensing, and actuation have made it feasible to deploy a large number of autonomous agents to work cooperatively to accomplish civilian and military missions. This, compared to a single complex agent, has the capability to significantly improve the operational effectiveness, reduce the costs, and provide additional degrees of redundancy. Having multiple autonomous agents to work together efficiently to achieve collective group behaviors is usually referred to as cooperative control of multi-agent or multi-vehicle systems. Due to its potential applications in various areas such as satellite formation flying, distributed computing, robotics, surveillance ...

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