Anderson, Brian D.O.Yu, ChangbinFidan, BarişHendrickx, Julien M.2025-12-182025-12-1807803979599780780397958ORCID:/0000-0002-1493-4774/work/174739489https://hdl.handle.net/1885/733796546This paper reviews a number of concepts and results relevant to the design of architectures to maintain the shape of a formation of autonomous agents. The paper begins with motivating examples from nature and the manmade world, and emphasises the task of providing satisfactory sensing, communication and control architectures within a formation of autonomous agents. Then some technical tools for characterising and designing architectures are described, largely resting on graph theoretic considerations.12en200610.1109/CCA.2006.28602243049156091