In this research, firstly, a Minimum Spanning Tree-based local communication algorithm is employed to incur less data
propagation. Furthermore, approvingly it always preserves network connectivity and is favorable to practical implementation
as well. Secondly, desired rigid formation pattern is achieved by utilizing graph Laplacian and feedback control
theory. Then emphasis is placed upon the time-delay influence on the acquired formation in the situation where interconnection
time-delays occur in certain information flow channels while robots are communicating with spatially separated
neighboring robots. A robust stabilization scheme is discussed to largely improve or even recover the destroyed formation
pattern. Simulations verify the effectiveness of the proposed approaches to formation control.