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A novel consensus filter is addressed to solve the multi-agent cooperative problem in the presence of measurement noise, where single-integrator is considered as the model of the agent. Consensus filter is established by modifying the fundamental consensus algorithm to achieve not only the cooperation of state but the attenuation of noise. Initially, the low-pass property of this consensus filter is shown by a specific and fixed topology among the agents. Sequentially, the tracking stability to a dynamic reference is proven by the linear system theory and matrix theory. Due to the communication limit, switching topologies case is also considered. Finally, effectiveness of the proposed algorithm is verified by simulation results.