Simulations. We provide simulations to support the presented theory. ≤ e−(λmin(Bi+1 T Bi+1)−ǁBT Bi+1ǁδl)∆t Vi+1 (ti,i+1) ≤ e−(λmin(Bi+1 ·Wc (ti,i+1) T ≤ e−(λmin(Bi+1 √ Bi+1)−ǁBT Bi+1)−ǁBT Bi+1ǁδl)∆t Bi+1ǁδl)∆t i+1 N(N 1) The first simulation involves four agents navigating under quantized communication and under a static tree structure. In fact, the communication sets of the four agents are chosen as N1 = {2}, N2 = {1, 3}, N3 = {2, 4}, N4 = {3}, · N (N −1) Vi,i+1 (ti,i+1) T so that the corresponding graph is a line graph. We can (λ (BT B )−ǁB B ǁδ )∆ N(N−1) λmin(BT B) · ǁBe ≤ e− min √ ti+1 compute ǁBT Bǁ
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Sources: Quantized Agreement, Quantized Agreement Under Time Varying Communication Topology, Quantized Agreement