Quantized agreement under time-varying communication topology

Cooperative control under quantized information for multi-agent systems with continuous models of motion is considered. Time-varying communication topology is taken into account and we distinguish between uniform and logarithmic quantization. Convergence guarantees are provided when the graph is a tree sufficiently often for the logarithmic quantizer, using tools from algebraic graph theory and Lyapunov stability. The results are illustrated by computer simulations.