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Olfati-Saber, Reza and Murray, Richard M. (2004) Consensus problems in networks of agents with switching topology and time-delays. IEEE Transactions on Automatic Control, 49 (9). pp. 1520-1533. ISSN 0018-9286. http://resolver.caltech.edu/CaltechAUTHORS:OLFieeetac04

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