The collective behaviour observed in many social insects and animals provides the inspiration for the development of multi-vehicle control systems. The distributed nature of the multi-vehicle control problem enhances the performance of the collective system along the dimensions of scalability, robustness, and fault tolerance. The distributed/decentralized nature of the cooperative control task introduces many sub-problems often associated with network control design. In this paper, a survey of recent results in the field of cooperative control for multivehicle systems is presented. Various applications are discussed and presented in a mathematical framework to illustrate the major features of the cooperative control problem. Theoretical results for various cooperative control strategies are presented by topic and applied to the multi-vehicle applications.lead to enhanced task performance, increased reliability and survivability, and decreased cost over more traditional large-scale platforms [2]. Biological motivationThe scientific motivation for studying multi-vehicle systems stems from the emergent and self-organizing swarming behaviours observed in many social insects and animals [3, 4]. In schools of fish and flocks of birds, swarm behaviour is used to collectively navigate through the environment and protect against predation. Herds of wildebeest exhibit complex collective behaviours when migrating, such as obstacle avoidance, leader election, and formation keeping [5]. These complex behaviours emerge from the coordinated and localized interactions of the individuals. In biological swarms, individual plan their own behaviour by observing the state of the environment and the behaviours of their nearest neighbours to achieve global functionality. Engineering motivationThe distributed and decentralized nature of biological swarming systems has gained a strong interest from control scientists and engineers developing JAERO230

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