  We study minimum-variance feedback-control design for a networked control
system with retarded dynamics, where inter-agent communication is subject to
latency. We prove that such a design can be solved efficiently for circular
formations and compute near-optimal control gains in closed form. We show that
the centralized control architecture is in general suboptimal when the
communication increase with the number of links, and propose a control-driven
optimization of the network topology.
