  We present methods to synthesize cooperative strategies for multi-vehicle
control problems using mixed integer linear programming. Complex multi-vehicle
control problems are expressed as mixed logical dynamical systems. Optimal
strategies for these systems are then solved for using mixed integer linear
programming. We motivate the methods on problems derived from an adversarial
game between two teams of robots called RoboFlag. We assume the strategy for
one team is fixed and governed by state machines. The strategy for the other
team is generated using our methods. Finally, we perform an average case
computational complexity study on our approach.
