Size Switching in Multi-agent Formation Control

Acknowledgements My sincerest thank you to Dr. Magnus Egerstedt, whose teaching and mentorship has helped me grow tremendously as a student and a researcher. He agreed to mentor my undergraduate research with little incentive, and provided invaluable advice and lessons about more than just my research. It is largely because of him that I have decided to continue my education towards a PhD. I'd also like to thank Dr. Jeff Shamma, who helped me finalize my thesis in his official role as my second reader. But, perhaps more importantly, Prof. Shamma assisted me greatly while I was selecting graduate schools and exposed me to a number of topics in the field, both in the classroom and in his office. Although he did not have a direct role in the completion of my thesis, I would like to acknowledge Dr. David Taylor, who also provided indispensable graduate school advise and research mentorship as I completed the Research Option and worked to identify my research interests.