Optimal network topology of multi-agent systems subject to computation and communication latency

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.