iii Acknowledgments First of all, I would like to thank Francesco Bullo for being an extraordinary advisor. I have learned a great deal from his guidance, his enthusiasm and his approach to research. Among the many lessons I have learned from him, one which sticks out and has affected me greatly is the simple concept that research should be fun. I would like to thank Emilio Frazzoli for providing me with the opportunity to visit the Massachusetts Institute of Technology. It was a great experience to work in his group and get a different perspective on my research. I also want to thank Marco Pavone for the great collaboration. It was a pleasure working with him and I hope that we will be able to work together more in the future. I want to thank George J. Pappas and Ali Jadbabaie for providing me with the opportunity to visit the GRASP Lab at the University of Pennsylvania. In addition, I want to thank Michael Zavlanos for making my stay there comfortable and helping me to get to know the research group and the city
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