Leader-following Consensus of Multi-agent Systems over Finite Fields
  The leader-following consensus problem of multi-agent systems over finite fields ${\mathbb F}_p$ is considered in this paper. Dynamics of each agent is governed by a linear equation over ${\mathbb F}_p$, where a distributed control protocol is utilized by the followers.Sufficient and/or necessary conditions on system matrices and graph weights in ${\mathbb F}_p$ are provided for the followers to track the leader. 
Xiangru Xu, Yiguang Hong
math.OC cs.SY