2026-07-072026-07-07http://salesiana.dossiersoluciones.com/handle/123456789/99258The paper presents a result which relates connectedness of the interaction graphs in a multi-agent systems with the capability for global convergence to a common equilibrium of the system. In particular we extend a previously known result by Moreau by including the possibility of arbitrary bounded time-delays in the communication channels and relaxing the convexity of the allowed regions for the state transition map of each agent.18 pages; 7 figuresOptimization and ControlDynamical Systems93D05;93A14;39A11;94C15text