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MR2480129 93E35 (62L20 68W15 91D30 93C55 94C15)
Huang, Minyi; Manton, Jonathan H. Coordination and consensus of networked agents with noisy measurements: stochastic algorithms and asymptotic behavior. SIAM J. Control Optim. 48 (2009), no. 1, 134–161.
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