Dual-rate consensus under fixed transmission delays converges if and only if the communication graph is connected, and a finite optimal sampling ratio exists under a spectral condition on the graph Laplacian.
The consensus problem in networks with transmission delays,
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On dual-rate consensus under transmission delays
Dual-rate consensus under fixed transmission delays converges if and only if the communication graph is connected, and a finite optimal sampling ratio exists under a spectral condition on the graph Laplacian.