  This paper presents a finite-time heterogeneous cyclic pursuit scheme that
ensures consensus among agents modelled as integrators. It is shown that for
the proposed sliding mode control, even when the gains corresponding to each
agent are non-identical, consensus results within a finite-time provided all
the gains are positive. An algorithm is presented to compute the consensus
value and consensus time for a given set of gains and initial states of the
agents. The set of values where consensus can occur, by varying the gains, has
been derived and a second algorithm aids in determining the gains that enable
consensus at any point in the aforementioned set, within a given finite-time.
As an application, the finite-time consensus in line-of-sight (LOS) rates, over
a cycle digraph, for a group of interceptors is shown to be effective in
ensuring co-operative collision-free interception of a target, for both
kinematic and realistic models of the interceptors. Simulations vindicate the
theoretical results.
