In this article, we establish orientation and connectivity based criteria for the agreement algorithm to achieve asymptotic consensus in the context of time-varying topology and communication delays. These criteria unify and extend many earlier convergence results on the agreement algorithm for deterministic and discrete-time multiagent systems.
@article{arxiv.1303.2043,
title = {Orientation and Connectivity Based Criteria for Asymptotic Consensus},
author = {Bernadette Charron-Bost},
journal= {arXiv preprint arXiv:1303.2043},
year = {2013}
}