This book is intended for the fields of control engineering and swarm coordination. It introduces the fundamental methods and application technologies of a novel multi-agent system-reconfigurable swarms-in formation coordination, reconfiguration docking, task scheduling, and multi-modality control. The proposed overall control methodologies are validated through MATLAB simulations and physical experiments, offering effective theoretical and technical guidance for the emerging area of multi-modality control in reconfigurable swarm systems. This book is suitable for engineering professionals engaged in swarm systems and control technologies, and can also serve as a valuable reference for researchers in related academic institutions. The basis of English translation of this book, originally in Chinese, was facilitated by artificial intelligence. The content was later revised by the author for accuracy.