Consensus over numerosity-constrained random networks

Nicole Abaid, Maurizio Porfiri

Research output: Contribution to journalArticlepeer-review


We analyze the discrete-time consensus problem for a group of agents that communicate through a stochastic directed network with fixed out-degree. This network construction models the perceptual phenomenon of numerosity observed in animal groups exhibiting collective behavior. We find necessary and sufficient conditions for mean square consentability of the averaging protocol and we derive a closed form expression for the asymptotic convergence factor. Analytical results are illustrated through simulations.

Original languageEnglish (US)
Article number5635321
Pages (from-to)649-654
Number of pages6
JournalIEEE Transactions on Automatic Control
Issue number3
StatePublished - Mar 2011


  • Consensus
  • network analysis and control
  • random graphs
  • stability of linear systems
  • stochastic systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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