The fundamental goal of multi-agent robotics is simple: how to create control laws and behaviors that, when executed by each individual robot, some desirable global behavior emerges. The global behavior may range from something as simple as the robots meeting at a single point, to something as complex as a collective search and rescue mission. Our research focuses on one of the more fundamental issues in multi-agent, mobile robotics: the formation control problem. The idea is to create controllers that cause robots to move into a predened formation shape. This is a well studied problem for...