Collective behaviour happens not only among humans but also across several species of the animal kingdom. It depends on local interactions among individuals, which coordination is driven by the spread of a general information. By taking inspiration from biological systems, researchers and engineers are trying to reproduce the cooperative behaviour of humans and animals like ants and birds, giving birth to multi-vehicle systems, with the aim of solving several problems. A multi-vehicle system is composed of interconnected vehicles coordinated to act collectively towards global objective. When controlling such systems, the goal is to obtain a coordinated behaviour through local interactions among vehicles and the surrounding environment.