We study the stability of multi-agent system (MAS) formations with delayed exchange of information between the agents. The agents are described by second order systems. They communicate via a symmetric connected communication topology with constant, heterogeneous, symmetric delays between any two neighboring agents. We consider two different tasks for the MAS: rendezvous, where all agents meet at an arbitrary point, and flocking, where all agents reach a given formation and move in a predefin...Expand abstract
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Delay-dependent rendezvous and flocking of large scale multi-agent systems with communication delays.
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