Consensus in Layered Sensor Networks with Communication Delays

In this paper, we study consensus in distributed sensor networks (DSN) with communication time delays. In particular, we focus on the DSN with multi-layer multi-group (MLMG) communication structures and show that consensus can be achieved even in the presence of arbitrarily large but bounded time-varying communication delays. Moreover, we explicitly characterize the final consensus value for the case where communication time delays are fixed.

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