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This textbook teaches control theory for multi-agent systems. Readers will learn the basics of linear algebra and graph theory, which are then developed to describe and solve multi-agent control problems. The authors address important and fundamental problems including:

- consensus control;

- coverage control;

- formation control;

- distributed optimization; and

- the viral spreading phenomenon.

Students' understanding of the core theory for multi-agent control is enhanced through worked examples and programs in the popular Python language....