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This paper considers the consensusability of multi-agent systems with delayand packet dropout. By proposing a kind of predictor-like protocol, sufficientand necessary conditions are given for the mean-square consensusability interms of system matrices, time delay, communication graph and the packetdropprobability. Moreover, sufficient and necessary conditions are also obtainedfor the formationability of multi-agent systems.

Consensusability of Multi-agent Systems with Delay and Packet Dropout Under Predictor-like Protocols