P.-A. Bliman and G. Ferrari-Trecate. Average consensus problems in networks of agents with delayed communications. Technical report, arXiv:math.OC/0503009, 2005. http://arxiv.org/
The present paper is devoted to the study of average consensus problems for undirected networks of dynamic agents having communication delays. The accent is puthere on the study of the time-delays inﬂuence: both constant and time-varying delaysare considered, as well as uniform and non uniform repartitions of the delays inthe network. The main results provide sufficient conditions (also necessary in mostcases) for existence of average consensus under bounded, but otherwise unknown,communication delays. Simulations are provided that show adequation with theseresults.