Multi-agent autonomous system and method

A method of controlling a plurality of crafts in an operational area, the method comprising:

• providing a command system;
• providing a first craft in the operational area and coupled to the command system;
• providing a second craft in the operational area and coupled to the command system;
• providing a third craft in the operational area and coupled to the first craft, the second craft, or both;
• determining a first desired destination and a first trajectory to the first desired destination;
• sending a first command from the command system to the first craft to move a first distance along the first trajectory;
• moving the first craft according to the first command;
• determining a second desired destination and a second trajectory to the second desired destination;
• sending a second command from the command system to the second craft to move a second distance along the second trajectory;
• determining a third desired destination and a third trajectory to the third desired destination;
• sending a third command from the first craft, the second craft, or both to the third craft to move a third distance along the third trajectory;
• moving the third craft according to the third command.