This thesis considers the formation control problem of a group of homogeneous non-holonomic agents in the presence of two kinds of delays, a time delay in the sensing feedback channel and a time delay in the agent communication network. The agents are assumed to communicate using a fixed and directed communication topology. The formation control problem is tackled using consensus protocols; this work proposes a new consensus protocol that allows for the existence of leader agents (agents that do not receive state information from its neighbors) within the formation, and the algebraic form of the distributed forcing function that solves the formation regulation problem. The time- delayed stability analysis of this formation is analyzed using the CTCR (Cluster Treatment of Characteristic Roots) method under the SDS (Spectral Delay Space) domain. Sufficient conditions for the stability of the time-delayed formation control system are presented. The methodology is implemented and validated with a numerical example evaluating the formation regulation and dynamic formation trajectory tracking capabilities of the scheme, along with a Monte Carlo experiment validating the time- delay robustness assessment. The results of the analysis of this methodology show that the sensing delay can drive the effective stability margin of the multi-agent system. We present an example where the communication delay margin is infinite for a finite range of sensing delays. The example emphasizes the need for the explicit consideration of sensing delays in the design of robust formations of agents and the methodology discussed in this thesis adequately addresses such considerations.