| Abstract
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In the last decade, cooperative multi-robot systems have been increasingly beingconsidered as a mean of performing complex tasks within dynamic environments.These complex and extremely diverse tasks include applications such as automatedtransportation, spacecraft interferometry, surveillance, mapping, border patrol, searchand rescue, disaster relief, unmanned air combat, multi-targeting and multi-platformoperations, military battle systems, highway and air transportation systems, mobilesensor networks, and wireless surveillance. The main reason for engaging multi-robot systems in collective behavior is their expected outperformance over single-robot systems in size, cost, exibility, and fault tolerance [43, 90].The design of multi-robot formations was initially inspired by the.
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