A novel consensus protocol using facility location algorithms

This paper introduces a new consensus protocol whose features are different from known consensus protocols available in the literature. The relation between discrete coverage algorithms over a convex polygon for solving a facility location problem (n-median problem) along with some notions in agreement over acyclic digraphs have been used to establish a novel constrained consensus protocol. Its convergence for the special case of acyclic digraphs with switching topology is presented. Extension of the results for other graph topologies and communication links are left for future works.