Consensus with ternary messages

Alex Olshevsky

Research output: Contribution to journalArticlepeer-review


We provide a protocol for real-valued average consensus by networks of agents which exchange only a single message from the ternary alphabet {-1, 0, 1} between neighbors at each step. Our protocol works on time-varying undirected graphs subject to a connectivity condition, has a worst-case convergence time which is polynomial in the number of agents and the initial values, and requires no global knowledge about the graph topologies on the part of each node to implement except for knowing an upper bound on the degrees of its neighbors.

Original languageEnglish (US)
Pages (from-to)987-1009
Number of pages23
JournalSIAM Journal on Control and Optimization
Issue number2
StatePublished - 2014
Externally publishedYes


  • Consensus protocols
  • Distributed control
  • Multiagent systems

ASJC Scopus subject areas

  • Control and Optimization
  • Applied Mathematics


Dive into the research topics of 'Consensus with ternary messages'. Together they form a unique fingerprint.

Cite this