Qin, Yuzhen; Cao, Ming; Anderson, Brian
For the widely studied consensus-type distributed multi-agent algorithms, a standard discrete-time model is a linear system whose system matrix is stochastic, thus implementing the “averaging” updating rule for each agent. To ensure agreement among all the agents asymptotically, one usually requires the stochastic matrix to be indecomposable and aperiodic (SIA). In this paper, we show that in practice such requirements can be relaxed by allowing the matrix to be periodic if the agents update...[Show more]
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