en عمومى General پژوهشي Research paper <div style="text-align: justify;">This paper investigates the problem of cooperative source seeking by networked multi-agent systems subject to communication time-delay; where the robots of the group are equipped with the sensors that measure the field concentration. First, a novel distributed control algorithm is proposed based on the estimation of the field gradient to move the agents along the gradient direction toward the source. Sufficient conditions are derived in terms of linear matrix inequalities to tune the parameters of the control law to assure the convergence of the team to a neighborhood of the source in spite of the estimation errors and communication time-delay. A cooperative estimation scheme is developed to obtain the gradient of the formation center by the delayed information. Finally, simulation results in Matlab&reg; and Webots&reg; are presented to demonstrate the efficiency and applicability of the suggested theory.</div> communication time-delay, distributed control, gradient estimation, source seeking. 85 97 http://jocee.kntu.ac.ir/browse.php?a_code=A-10-450-1&slc_lang=en&sid=1 Behnam Gharib ben_elc_eng@yahoo.com 1003194753284600291 1003194753284600291 No Department of Electrical Engineering, Sahand University of Technology, Tabriz, Iran Reza Mahboobi Esfanjani mahboobi@sut.ac.ir 1003194753284600292 1003194753284600292 Yes Department of Electrical Engineering, Sahand University of Technology, Tabriz, Iran