We present here the details of the evaluation performance of an estimation strategy for a decentralized safety controller for two agents, subject to communication delay and imperfect measurements. The control objective is to ensure safety, meaning that the state of the two-agent system does not enter an undesired set in the state space. Assuming that we know a feedback map designed for the delay-free case, we propose a state estimation strategy which guarantees control agreement between the two agents in the case of bounded communication delay. We extend it to the case of infinitely-distributed communication delays by determining a lower bound for the probability of safety. In the present note, we discuss the performance of the resulting controller.