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Multi-agent consensus over time-invariant and time-varying signed digraphs via eventual positivity
For the time-varying case, convergence to consensus can be guaranteed by the existence of a common Lyapunov function for all the signed Laplacians.
On the properties of Laplacian pseudoinverses
The pseudoinverse of a graph Laplacian is used in many applications and fields, such as for instance in the computation of the effective resistance in electrical networks, in the calculation of the hitting/commuting times for a Markov chain and in continuous-time distributed averaging problems.
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