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We consider consensus seeking of networked agents on directed graphs where each agent has only noisy measurements of its neighbors' states. Stochastic approximation type algorithms are employed so that the individual states converge both in mean square and almost surely to the same limit. We further generalize the algorithm to networks with random link failures and prove convergence results.
We consider consensus seeking with measurement noise in directed graphs containing a spanning tree. By using stochastic approximation type algorithms, we show the state of each agent converges in mean square and almost surely to the same limit. Furthermore, we show that the approximation error, as the difference between the state vector and its limit, is asymptotically normal after normalization,...
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