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Formal Methods for Multi-Agent Feedback Control Systems Spawn is able to diagnose theAn introduction to formal methods for feedback control of multi agent systems with safety and performance guarantees. Multi agent control systems can accomplish tasks that single agent systems cannot address, such as aerial surveillance of large areas by a group of drones. In Formal Methods for Multi Agent Feedback Control Systems, Lars Lindemann and Dimos Dimarogonas provide an accessible introduction to formal methods for feedback control of multi