Abstract-We study the consensus problem for networks with changing communication topology and with time-dependent communication links. That is, the network changes in two dimensions: "geographical" and "temporal". We establish that consensus is reached provided that there always exists a spanning tree for a minimal dwell-time and the interconnection gains are persistently exciting. Our main result covers the particular case, studied in the literature, of one fixed-topology with time-varying interconnections but also that of changing topologies with reliable interconnections during a dwell-time. Another originality of our work lies in the method of proof, based on stability theory of time-varying and switched systems. Simulations on an academic example are provided to illustrate our theoretical results.
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