Consensus in Networked Multi-Agent Systems with Random Packet Loss
This paper studies the consensus seeking problem
for a team of agents with general discrete-time linear time-invariant dynamics and over lossy communication networks.
It is shown for the first time that the connection weights
in a communication network should be considered as control
parameters for the consensus seeking problem. For networks
without packet loss, it is proved that a necessary and sufficient condition of consentability is the communication topology has spanning trees. For Bernoulli lossy networks, a packet loss probability bound is obtained to ensure the mean square consentability for the case when the communication topology has spanning trees.