Synchronization conditions for discrete-time heterogeneous multiagent systems are established from the average of initial dynamic matrices, unifying homogeneous and heterogeneous cases without requiring small differences among agents.
Fast linear iterations for distributed averaging,
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Autonomous Synchronization of Discrete-Time Heterogeneous Multiagent Systems
Synchronization conditions for discrete-time heterogeneous multiagent systems are established from the average of initial dynamic matrices, unifying homogeneous and heterogeneous cases without requiring small differences among agents.