A Round-Robin Type Protocol for Distributed Estimation with $H_\infty$   Consensus
  The paper considers a distributed robust estimation problem over a network with directed topology involving continuous time observers. While measurements are available to the observers continuously, the nodes interact according to a Round-Robin rule, at discrete time instances. The results of the paper are sufficient conditions which guarantee a suboptimal $H_\infty$ level of consensus between observers with sampled interconnections. 
V. Ugrinovskii and E. Fridman
cs.SY