This note presents a novel method to design a controller for the formation of networked mobile robots, where the communication between the members of the group is affected by variable time-delay. The control objective is twofold: to maintain the formation during the motion along a desired path and guarantee no collisions with obstacles or adjacent robots. Initially, an innovative dynamical model is formulated for the system; afterwards, the notion of model predictive control is employed to ensure collision avoidance with guaranteed stability. Simulation results are provided to demonstrate the applicability and effectiveness of the suggested method.

This paper deals with the problem of scheduling n tasks on m identical processors in the presence of communication delays. A new approach of modelisation by a decision graph and a resolution by a tabu search method is proposed. Initial solutions are constructed by list algorithms, and then improved by a tabu algorithm operating in two phases. The experiments carried on arbitrary graphs show the efficiency of our method and that it outperformed the principle existent heuristics.