Stability of leaderless multi-agent systems. Extension of a result by Moreau

The paper presents a result which relates connectedness of the interaction graphs in a multi- agent systems with the capability for global convergence to a common equilibrium of the system. In particular we extend a previously known result by Moreau by including the possibility of arbitrary bounded time-delays in the communication channels and relaxing the convexity of the allowed regions for the state transition map of each agent.

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