Abstract
In this paper, we consider a widely studied consensus algorithm for processing sensor data of dynamic agents. A new algorithm to reach a consensus given time delay constraints is proposed. The algorithm performance was evaluated in a scenario where a swarm of Unmanned Aerial Vehicles (UAVs) measure and estimate the location of a ground maneuvering target. Each UAV computes its state prediction and shares it with its neighbors only. However, the shared information arrives at each agent with varying time delays. The entire group of UAVs must reach a consensus on target's state. Different scenarios were also simulated to examine the effectiveness and performance in terms of overall estimation error, disagreement between delayed and non-delayed agents, and time to reach a consensus for each parameter.
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