Self-Triggered Control for Multi-Agent Systems with Quantized   Communication or Sensing
  The consensus problem for multi-agent systems with quantized communication or sensing is considered. Centralized and distributed self-triggered rules are proposed to reduce the overall need of communication and system updates. It is proved that these self-triggered rules realize consensus exponentially if the network topologies have a spanning tree and the quantization function is uniform. Numerical simulations are provided to show the effectiveness of the theoretical results. 
Xinlei Yi, Jieqiang Wei and Karl H. Johansson
cs.SY math.GR