  We propose a top-down approach for formation control of heterogeneous
multi-agent systems, based on the method of eigenstructure assignment. Given
the problem of achieving scalable formations on the plane, our approach
globally computes a state feedback control that assigns desired closed-loop
eigenvalues/eigenvectors. We characterize the relation between the
eigenvalues/eigenvectors and the resulting inter-agent communication topology,
and design special (sparse) topologies such that the synthesized control may be
implemented locally by the individual agents. Moreover, we present a
hierarchical synthesis procedure that significantly improves computational
efficiency. Finally, we extend the proposed approach to achieve rigid formation
and circular motion, and illustrate these results by simulation examples.
