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We introduce and analyze a model for decentral- ized control. The model isbroad enough to include problems such as formation control, decentralization ofthe power grid and flocking. The objective of this paper is twofold. First, weshow how the issue of decentralization goes beyond having agents know only partof the state of the system. In fact, we argue that a complete theory ofdecentralization should take into account the fact that agents can be madeaware of only part of the global objective of the ensemble. A secondcontribution of this paper is the introduction of a rigorous definition ofinformation flow for a decentralized system: we show how to attach to a generalnonlinear decentralized system a unique information flow graph that is aninvariant of the system. In order to address some finer issues in decentralizedsystem, such as the existence of so-called "information loops", we furtherrefine the information flow graph to a simplicial complex-more precisely, aWhitney complex. We illustrate the main results on a variety of examples.

Known unknowns, unknown unknowns and information flow: new concepts in decentralized control