  In this paper, we present a solution to the problem of coordinating multiple
robots across a communication channel that experiences delays. The proposed
approach leverages control barrier functions in order to ensure that the
multi-robot system remains dissipative. This is achieved by encoding the
dissipativity-preserving condition as a set invariance constraint. This
constraint is then included in an optimization problem, whose objective is that
of modifying, in a minimally invasive fashion, the nominal input to the robots.
The formulated optimization problem is decentralized in the sense that, in
order to be solved, it does not require the individual robots to have access to
global information. Moreover, thanks to its convexity, each robot can solve it
using fast and efficient algorithms. The effectiveness of the proposed control
framework is demonstrated through the implementation of a formation control
algorithm in presence of delays on a team of mobile robots.
