Increasing heterogeneous time delays in signed consensus networks on a ring topology can destabilize the consensus state and produce transitions to bounded non-convergent or unstable dynamics.
Moreau, Stability of multiagent systems with time-dependent communication links,IEEE Transactions on Automatic Control, 2005
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Delay-Induced Stability Transitions in Directed Signed Consensus Networks
Increasing heterogeneous time delays in signed consensus networks on a ring topology can destabilize the consensus state and produce transitions to bounded non-convergent or unstable dynamics.