P.-A. Bliman and G. Ferrari-Trecate. Average consensus problems in networks of agents with delayed communications. Proc. 44th IEEE Conference on Decision and Control and European Control Conference 2005 , pages 7066--7071, 2005. Seville, Spain, 12-15 December.
The present paper is devoted to the study of average consensus problems for undirectednetworks of dynamicagents having communication delays. The accent is put hereon the study of the time-delays inﬂuence: both constant andtime-varying delays are considered, as well as uniform andnon uniform repartitions of the delays in the network. Themain results provide sufficient conditions (also necessary inmost cases) for existence of average consensus under bounded,but otherwise unknown, communication delays. Simulations areprovided that show adequation with these results.