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In this paper, we present a solution to the problem of coordinating multiplerobots across a communication channel that experiences delays. The proposedapproach leverages control barrier functions in order to ensure that themulti-robot system remains dissipative. This is achieved by encoding thedissipativity-preserving condition as a set invariance constraint. Thisconstraint is then included in an optimization problem, whose objective is thatof modifying, in a minimally invasive fashion, the nominal input to the robots.The formulated optimization problem is decentralized in the sense that, inorder to be solved, it does not require the individual robots to have access toglobal information. Moreover, thanks to its convexity, each robot can solve itusing fast and efficient algorithms. The effectiveness of the proposed controlframework is demonstrated through the implementation of a formation controlalgorithm in presence of delays on a team of mobile robots.

Passivity-Based Decentralized Control of Multi-Robot Systems With Delays Using Control Barrier Functions