  In the present chapter we study the emergence of global patterns in large
groups in first and second-order multi-agent systems, focusing on two
ingredients that influence the dynamics: the interaction network and the state
space. The state space determines the types of equilibrium that can be reached
by the system. Meanwhile, convergence to specific equilibria depends on the
connectivity of the interaction network and on the interaction potential. When
the system does not satisfy the necessary conditions for convergence to the
desired equilibrium, control can be exerted, both on finite-dimensional systems
and on their mean-field limit.
