Consensus Seeking Over Random Weighted Directed Graphs

We examine the consensus problem for a group of agents that communicate via a stochastic information network. Communication among agents is modeled as a weighted directed random graph that switches periodically. The existence of any edge is probabilistic and independent from the existence of any other edge. We further allow each edge to be weighted differently. Sufficient conditions for asymptotic almost sure consensus are presented for the case of positive weights and for the case of arbitrary weights.