In the last years, we have witnessed an increased interest in cooperative robotics applications. Notable examples include task allocation, model predictive control and formation control. Moreover, nowadays robots can be endowed with small yet powerful computing units, and can be connected among each others over a network. In this novel, distributed set-up, robots have to solve complex problems without a coordinating unit. By relying on their limited knowledge of the problem data, robots can exploit these computation and communication capabilities to execute these tasks, which often involve the solution of optimization problems.