I. Introduction
The design and control of complex operations often requires the ability to model not only the complex dynamics of physical systems, but also the organization and flow of information and decisions. This dimension captures the fact that complex systems are controlled by multiple agents, each with their own information. The behaviors of the agents will exhibit varying degrees of cooperation that might reflect both differences in information as well as differences in goals. Multiagent structures may arise because decision makers are distributed spatially or functionally. While there is considerable literature on multiagent systems, the vast majority of these studies lack a formal mathematical model and do not consider either the different types of information sharing that arise in this setting, nor the quality of information exchange.