### Abstract

We consider a consensus algorithm in which every node in a time-varying undirected connected graph assigns equal weight to each of its neighbors. Under the assumption that the degree of any given node is constant in time, we show that the algorithm achieves consensus within a given accuracy ε on n nodes in time O(n ^{3}ln(n=ε)). Because there is a direct relation between consensus algorithms in time-varying environments and inhomogeneous random walks, our result also translates into a general statement on such random walks. Moreover, we give simple proofs that the convergence time becomes exponentially large in the number of nodes n under slight relaxations of the above assumptions. We prove that exponential convergence time is possible for consensus algorithms on fixed directed graphs, and we use an example of Cao, Spielman, and Morse to give a simple argument that the same is possible if the constant degrees assumption is even slightly relaxed.

Original language | English (US) |
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Title of host publication | 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 |

Pages | 6602-6607 |

Number of pages | 6 |

DOIs | |

State | Published - Dec 1 2011 |

Event | 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 - Orlando, FL, United States Duration: Dec 12 2011 → Dec 15 2011 |

### Publication series

Name | Proceedings of the IEEE Conference on Decision and Control |
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ISSN (Print) | 0191-2216 |

### Other

Other | 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 |
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Country | United States |

City | Orlando, FL |

Period | 12/12/11 → 12/15/11 |

### ASJC Scopus subject areas

- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization

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## Cite this

*2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011*(pp. 6602-6607). [6160945] (Proceedings of the IEEE Conference on Decision and Control). https://doi.org/10.1109/CDC.2011.6160945