Consensus for double integrator dynamics in heterogeneous networks

In this paper we study topological properties of consensus algorithms for agents with double integrator dynamics communicating over networks modeled by undirected graphs. Unlike existing work we drop the assumption that the positions and the velocities of the agents are shared along homogeneous communication networks. In fact, our main result is that consensus can be achieved even though the networks along which position and velocity information is shared are different, and not even connected. We further provide insights on consensus rate based only on the topological properties of the network and show that unlike in homogeneous networks, consensus type cannot be changed by introducing gains.