# A necessary and sufficient condition for designing formation of discrete-time multi-agent systems with delay

> Research article (Neurocomputing, 2018) · cited 20× · AI/ML

**Wikidata**: [openalex:W2810075645](https://www.wikidata.org/wiki/openalex:W2810075645)  
**Source**: https://4ort.xyz/entity/a-necessary-and-sufficient-condition-for-designing-formation-of-discrete-time-multi-agent-systems-with-delay