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Cooperative control for multiple vehicle systems has been a topic of significant interest in recent years. For cooperative control strategies to be successful, numerous issues must be addressed, among which the study of shared information in a group of vehicles facilitates the coordination of these vehicles. As a result, a critical problem for cooperative control is to design appropriate protocols and algorithms so that the group of vehicles can converge to a consistent view of the shared information in the presence of limited and unreliable information exchange and dynamically changing interaction topologies. Convergence to a common value is called the consensus or agreement problem in the literature. Consensus problems have a history in computer science1 and have recently been studied in the context of cooperative control of multiple vehicle systems. 2–8 Ref. 9 provides a survey of consensus problems in multi …