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We study minimum-variance feedback-control design for a networked control system with retarded dynamics, where inter-agent information exchange is subject to latency. We prove that such a control design can be solved efficiently for circular formations and compute near-optimal control gains in closed form. Also, we show that the centralized control is in general a poor design choice when adding communication links to the network increases the latency, and propose a control-driven optimization of the network topology.

Optimal Network Topology of Multi-Agent Systems subject to Computation and Communication Latency