I. INTRODUCTION
It is expected that in the near future autonomous navigation of multi-agent systems will be possible. An autonomous system consisting of multiple agents is aimed in most of the cases at solving tasks or achieving goals using interactions among the agents. The interactions, however, can vary from simple semantic operations such as information passing to very complex scenarios such as cooperation, coordination and negotiation [1]. When viewed from a control point of view, particularly in situations where the agents have competing interests or seek different goals, the coordination problem becomes difficult to deal with. Regardless of the purpose of the agents, there are qualitatively two ways to approach this problem: centralized coordination where a central planner decides what each agent should do and decentralized coordination where each agent is provided with the ability to make informed decisions on its own. There exists, however, intermediary levels of decentralization.