Consensus achievement in multi-agent swarms using weighted median

Achievement of consensus in multi-agent system is a topic of much research lately. Most of the consensus achievement algorithms are iteration based and are not able to address additional objectives and constraints. We propose an algorithm that is simple, distributed and able to achieve consensus after considering multiple objectives. In a group of decision making agents, to find a consensus, we calculate the median of the group. Ultimately the median is pulled to a lower or higher value depending on the summation of constraint based parameters or weights of the agents. Analysis showed the efficacy of the algorithm.