Consensus of information under dynamically changing interaction topologies

This paper considers the problem of information consensus among multiple agents in the presence of limited and unreliable information exchange with dynamically changing interaction topologies. Both discrete and continuous update schemes are proposed for information consensus. The paper shows that information consensus under dynamically changing interaction topologies can be achieved asymptotically if the union of the directed interaction graphs across some time intervals has a spanning tree frequently enough as the system evolves. Simulation results show the effectiveness of our update schemes.