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Classical approaches for asymptotic convergence to the global average in adistributed fashion typically assume timely and reliable exchange ofinformation between neighboring components of a given multi-component system.These assumptions are not necessarily valid in practical settings due tovarying delays that might affect transmissions at different times, as well aspossible changes in the underlying interconnection topology (e.g., due tocomponent mobility). In this work, we propose protocols to overcome theselimitations. We first consider a fixed interconnection topology (captured by a- possibly directed - graph) and propose a discrete-time protocol that canreach asymptotic average consensus in a distributed fashion, despite thepresence of arbitrary (but bounded) delays in the communication links. Theprotocol requires that each component has knowledge of the number of itsoutgoing links (i.e., the number of components to which it sends information).We subsequently extend the protocol to also handle changes in the underlyinginterconnection topology and describe a variety of rather loose conditionsunder which the modified protocol allows the components to reach asymptoticaverage consensus. The proposed algorithms are illustrated via examples.

Average Consensus in the Presence of Delays and Dynamically Changing Directed Graph Topologies