The problem of the equidistant deployment of a group of mobile agents on a line segment is studied. Both cases where agent dynamics is modeled by the first-order integrators and double integrators are considered. It is assumed that each agent receives information from its neighbors not directly, but via an auxiliary agent. The impact of communication delays on the agent deployment is investigated. Conditions are derived ensuring the convergence of agents to the equidistant distribution for any constant nonnegative delays. Efficiency of the obtained results is demonstrated by a numerical simulation.

中文翻译：

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通信延迟协议下线段编队控制问题

研究了在一条线段上等距部署一组移动代理的问题。代理动力学由一阶积分器和双积分器建模的两种情况都被考虑。假设每个代理不是直接从其邻居那里接收信息，而是通过一个辅助代理。研究了通信延迟对代理部署的影响。导出条件以确保代理收敛到任何恒定非负延迟的等距分布。通过数值模拟证明了所得结果的效率。