{"id":"https://openalex.org/W1563233701","doi":"https://doi.org/10.1109/cdc.2003.1271796","title":"Agreement problems in networks with directed graphs and switching topology","display_name":"Agreement problems in networks with directed graphs and switching topology","publication_year":2004,"publication_date":"2004-04-23","ids":{"openalex":"https://openalex.org/W1563233701","doi":"https://doi.org/10.1109/cdc.2003.1271796","mag":"1563233701"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2003.1271796","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2003.1271796","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5091487657","display_name":"R.O. Saber","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R.O. Saber","raw_affiliation_strings":["Control and Dynamical Systems, California Institute of Technology, USA","[Control and Dynamical Systems, California Institute of Technology, Pasadena, CA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control and Dynamical Systems, California Institute of Technology, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"[Control and Dynamical Systems, California Institute of Technology, Pasadena, CA, USA]","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068600217","display_name":"Richard M. Murray","orcid":"https://orcid.org/0000-0002-5785-7481"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R.M. Murray","raw_affiliation_strings":["Control and Dynamical Systems, California Institute of Technology, USA","[Control and Dynamical Systems, California Institute of Technology, Pasadena, CA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control and Dynamical Systems, California Institute of Technology, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"[Control and Dynamical Systems, California Institute of Technology, Pasadena, CA, USA]","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":18.2152,"has_fulltext":false,"cited_by_count":212,"citation_normalized_percentile":{"value":0.99281668,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"4126","last_page":"4132"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10246","display_name":"Mobile Ad Hoc Networks","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10796","display_name":"Cooperative Communication and Network Coding","score":0.9944000244140625,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.601648211479187},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.5127840638160706},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.46932169795036316},{"id":"https://openalex.org/keywords/directed-graph","display_name":"Directed graph","score":0.45921963453292847},{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.4566492438316345},{"id":"https://openalex.org/keywords/modular-decomposition","display_name":"Modular decomposition","score":0.4550344944000244},{"id":"https://openalex.org/keywords/consensus","display_name":"Consensus","score":0.42592957615852356},{"id":"https://openalex.org/keywords/laplacian-matrix","display_name":"Laplacian matrix","score":0.42261913418769836},{"id":"https://openalex.org/keywords/graph-theory","display_name":"Graph theory","score":0.41863495111465454},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4169137179851532},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3752066493034363},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.3390887975692749},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.33398905396461487},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.2599722445011139},{"id":"https://openalex.org/keywords/pathwidth","display_name":"Pathwidth","score":0.24868488311767578},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.1809978485107422},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1635981798171997},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.12054997682571411},{"id":"https://openalex.org/keywords/line-graph","display_name":"Line graph","score":0.11510539054870605}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.601648211479187},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.5127840638160706},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.46932169795036316},{"id":"https://openalex.org/C146380142","wikidata":"https://www.wikidata.org/wiki/Q1137726","display_name":"Directed graph","level":2,"score":0.45921963453292847},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.4566492438316345},{"id":"https://openalex.org/C187407849","wikidata":"https://www.wikidata.org/wiki/Q6889712","display_name":"Modular decomposition","level":5,"score":0.4550344944000244},{"id":"https://openalex.org/C107107730","wikidata":"https://www.wikidata.org/wiki/Q2994424","display_name":"Consensus","level":3,"score":0.42592957615852356},{"id":"https://openalex.org/C115178988","wikidata":"https://www.wikidata.org/wiki/Q772067","display_name":"Laplacian matrix","level":3,"score":0.42261913418769836},{"id":"https://openalex.org/C88230418","wikidata":"https://www.wikidata.org/wiki/Q131476","display_name":"Graph theory","level":2,"score":0.41863495111465454},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4169137179851532},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3752066493034363},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.3390887975692749},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.33398905396461487},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.2599722445011139},{"id":"https://openalex.org/C43517604","wikidata":"https://www.wikidata.org/wiki/Q7144893","display_name":"Pathwidth","level":4,"score":0.24868488311767578},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.1809978485107422},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1635981798171997},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.12054997682571411},{"id":"https://openalex.org/C203776342","wikidata":"https://www.wikidata.org/wiki/Q1378376","display_name":"Line graph","level":3,"score":0.11510539054870605},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.1109/cdc.2003.1271796","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2003.1271796","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)","raw_type":"proceedings-article"},{"id":"pmh:oai:authors.library.caltech.edu:28024","is_oa":false,"landing_page_url":"https://authors.library.caltech.edu/28024/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Report or Paper"},{"id":"pmh:ADA465113","is_oa":false,"landing_page_url":"http://oai.dtic.mil/oai/oai?&verb=getRecord&metadataPrefix=html&identifier=ADA465113","pdf_url":null,"source":{"id":"https://openalex.org/S4406923043","display_name":"Defense Technical Information Center (DTIC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"DTIC","raw_type":"Text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.2.7148","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.2.7148","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cds.caltech.edu/~olfati/papers/cdc03/cdstr-ros-03-005.ps","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.592.288","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.592.288","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.seas.ucla.edu/coopcontrol/papers/om03-cdc-1.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.6.3289","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.6.3289","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cds.caltech.edu/~olfati/papers/cdc03/cdc03a_ros_rmm.ps","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.72.6740","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.72.6740","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cds.caltech.edu/~olfati/papers/cdc03/cdstr-ros-03-005.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"},{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W247697463","https://openalex.org/W1563233701","https://openalex.org/W1587744656","https://openalex.org/W1778911478","https://openalex.org/W1864806140","https://openalex.org/W2009619786","https://openalex.org/W2015410655","https://openalex.org/W2060203271","https://openalex.org/W2066165676","https://openalex.org/W2107940287","https://openalex.org/W2133754447","https://openalex.org/W2142325999","https://openalex.org/W2147928602","https://openalex.org/W2150312211","https://openalex.org/W2165744313","https://openalex.org/W2325440561","https://openalex.org/W2610857016","https://openalex.org/W2611515161","https://openalex.org/W3106753174","https://openalex.org/W4238591275","https://openalex.org/W6638189091"],"related_works":["https://openalex.org/W2333731806","https://openalex.org/W3096674331","https://openalex.org/W2035787953","https://openalex.org/W1600295689","https://openalex.org/W3205451841","https://openalex.org/W2042408982","https://openalex.org/W2062542433","https://openalex.org/W2980902902","https://openalex.org/W1675099616","https://openalex.org/W3085903267"],"abstract_inverted_index":{"In":[0],"this":[1,31,58,100],"paper,":[2],"we":[3],"provide":[4],"tools":[5],"for":[6,15,34,96,103],"convergence":[7,97],"and":[8,39,54,108],"performance":[9,56],"analysis":[10,98],"of":[11,18,30,50,57,66,84,99],"an":[12],"agreement":[13,59,101],"protocol":[14,33,102],"a":[16,64,73,87],"network":[17],"integrator":[19],"agents":[20],"with":[21,36,105],"directed":[22,67,106],"information":[23],"flow.":[24],"We":[25,61],"also":[26],"analyze":[27],"algorithmic":[28],"robustness":[29],"consensus":[32],"networks":[35,104],"mobile":[37],"nodes":[38],"switching":[40,109],"topology.":[41,110],"A":[42],"connection":[43],"is":[44,94],"established":[45],"between":[46],"the":[47,51,55,82],"Fiedler":[48],"eigenvalue":[49],"graph":[52],"Laplacian":[53],"protocol.":[60],"demonstrate":[62],"that":[63],"class":[65],"graphs,":[68,71,86],"called":[69],"balanced":[70,85],"have":[72],"crucial":[74],"role":[75],"in":[76],"solving":[77],"average-consensus":[78],"problems.":[79],"Based":[80],"on":[81],"properties":[83],"group":[88],"disagreement":[89],"function":[90],"(i.e.":[91],"Lyapunov":[92],"function)":[93],"proposed":[95],"graphs":[107]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":10},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":11},{"year":2012,"cited_by_count":16}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}