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We study a finite and fixed relative formation of possibly mobile wirelessnetworked nodes. The nodes apply average consensus to agree on a common valuelike the formation's center. %Performance of consensus in terms of convergencespeed is affected by message losses due path loss and interference. We assumeframed slotted ALOHA based broadcast communication. Our work has twocontributions. First, we analyze outage correlation of random media access inwireless networks under Nakagami fading. Second, the correlation terms areapplied to the so called L2-joint spectral and numerical radii to analyzeconvergence speed of average consensus under wireless broadcast communication.This yields a unified framework for studying joint optimization of control andnetwork parameters for consensus subject to message losses in wirelesscommunications. Exemplary we show in this work how far outage correlation inwireless broadcast communication positively affects convergence speed ofaverage consensus compared to consensus in the uncorrelated case.

Analytical Derivation of Outage Correlation in Random Media Access with Application to Average Consensus in Wireless Networks: Extended Paper Version