Consensus condition for linear multi-agent systems over randomly switching topologies. You, K., Li, Z., & Xie, L. Automatica, 49:3125–3132, 2013.
bibtex   
@Article{SCC.You.Li.ea2013,
  author    = {You, Keyou and Li, Zhongkui and Xie, Lihua},
  title     = {Consensus condition for linear multi-agent systems over randomly switching topologies},
  journal   = {Automatica},
  year      = {2013},
  volume    = {49},
  pages     = {3125--3132},
  owner     = {jklotz},
  timestamp = {2014.12.18},
}

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