Leaderless consensus seeking in multi-agent systems under multiplicative measurement noises and switching topologies

In this paper, we present a distributed leaderless consensus protocol for continuous time single-integrator multi-agent systems with multiplicative measurement noises in time-varying topologies. The consensus has been proved to achieve mean square convergence under restricted conditions on the network topology than those established in the literature for the same problem. That is in our study, the topology is required to have a spanning tree between any two consecutive switching times and no need to be balanced. The analysis followed here is based mainly on graph theory, stochastic tools, and some results about the stability of switching systems. At the end of the paper, some numerical simulations have been derived to demonstrate the effectiveness of our approach.