  This paper introduces a distributed control method for multi-agent robotic
systems employing Over the Air Consensus (OTA-Consensus). Designed for agents
with decoupled single-integrator dynamics, this approach aims at efficient
formation achievement and collision avoidance. As a distinctive feature, it
leverages OTA's ability to exploit interference in wireless channels, a
property traditionally considered a drawback, thus enhancing communication
efficiency among robots. An analytical proof of asymptotic convergence is
established for systems with time-varying communication topologies represented
by sequences of strongly connected directed graphs. Comparative evaluations
demonstrate significant efficiency improvements over current state-of-the-art
methods, especially in scenarios with a large number of agents.
