Linear Consensus Algorithms Based on Balanced Asymmetric Chains
  Multi agent consensus algorithms with update steps based on so-called balanced asymmetric chains, are analyzed. For such algorithms it is shown that (i) the set of accumulation points of states is finite, (ii) the asymptotic unconditional occurrence of single consensus or multiple consensuses is directly related to the property of absolute infinite flow for the underlying update chain. The results are applied to well known consensus models. 
Sadegh Bolouki and Roland P. Malhame
math.OC cs.SY eess.SY math.DS