  Feedback optimisation is an emerging technique aiming at steering a system to
an optimal steady state for a given objective function. We show that it is
possible to employ this control strategy in a distributed manner. Moreover, we
prove asymptotic convergence to the set of optimal configurations. To this
scope, we show that exponential stability is needed only for the portion of the
state that affects the objective function. This is showcased by driving a swarm
of agents towards a target location while maintaining a target formation.
Finally, we provide a sufficient condition on the topological structure of the
specified formation to guarantee convergence of the swarm in formation around
the target location.
