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Time delays exist in network-connected systems. Especially for vision-based multi-robot systems, time delays are diverse and complicated due to the communication network, camera latency, image processing, etc. At the same time, many tasks, such as searching and rescue, have timing requirement. This paper focuses on fixed-time formation control of multirobot systems subject to delay constraints. First, predictorbased state transformation is employed for each robot to deal with the input delaydoi:10.1109/tie.2018.2870409 fatcat:2ty3lbks3befraormlsvbyd44y