Somarakis, ChristoforosBaras, JohnThe classic linear time-invariant multi-agent consensus scheme is revisited in the presence of constant and distributed bounded delays. We create a fixed point argument and prove exponential convergence with specific rate that depends both on the topology of the communication graph and the upper bound of the allowed delay.en-USConsensus DynamicsFlocking NetworksFixed Point TheoryContraction MappingsTechnical Report