This work focuses on optimization-based control techniques for dynamical Multi-Agent systems subject to collision avoidance constraints using set-theoretic methods. Firstly, at the agent level, a decentralized control subject to collision avoidance constraints is proposed. Secondly, at the formation level, a set-based decentralized control is discussed for the Multi-Agent system deployment in a bounded convex region. Thirdly, at the supervision level, a formation reconfiguration strategy is proposed in order to consider incoming (healthy) / outcoming (faulty) agents.

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