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Multi-agent systems often make use of graph theory to illustrate the communication topology (if agent "i" communicates with agent "j". While in this paper, there is a hierarchy among agents for collision avoidance, the communication constraints (decentralized or centralized) are not explicitly stated. Therefore, with reference to graph theory, it is not clear if the algorithm applies to switching topologies, directed or undirected graphs etc. This is especially important for comparison to other research done on multi-agent formations.
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