Uses the concept of graph rigidity as the basis for describing the multi-agent formation geometry and solving formation control problems. Considers different agent models and formation control problems. Control designs throughout the book progressively build upon each other. Provides a primer on rigid graph theory. Combines theory, computer simulations, and experimental results Market description: Primary: Researchers and practitioners working in the areas of control systems, robotics and multi-agent systems. Secondary: Graduate students in control systems, robotics, and multi-agent systems"-- Provided by publisher