Event-based Broadcasting for Multi-agent Average Consensus. Seyboth, G., Dimarogonas, D. V., & Johansson, K. H. Automatica, 49(1):245-252, 2013.
bibtex   
@ARTICLE{ist:seyboth12c,
  author = {Seyboth, G. and Dimarogonas, D. V. and Johansson, K. H.},
  title = {Event-based Broadcasting for Multi-agent Average Consensus},
  journal = {Automatica},
  year = {2013},
  volume = {49},
  pages = {245-252},
  number = {1},
  pubtype = {journal}
}

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