Radar deception through phantom track generation using multiple electronic combat air vehicles is addressed, which serves as a motivating example for cooperative control of autonomous multiagent systems. A general framework to derive sufficient conditions for the existence of feasible solutions for an affine nonlinear control system comprising of a team of nonholonomic mobile agents having to satisfy actuator and interagent constraints is presented. Based on this feasibility analysis, an algorithm capable of generating trajectories online and in real time, for the phantom track generation problem, is developed. A rigorous treatment of the phantom track generation problem, which includes results on its accessibility, feasibility, local asymptotic straightening of trajectories, and a limited result on system controllability, is given. The basic approach to the algorithm based on the results developed here is presented along with simulation results, validating the proposed approach.

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