“…, N } and a measure x i for every node i ∈ V . The average consensus problem consists in computing the average x A = N −1 i x i in an iterative distributed way, exchanging information among nodes exclusively along the available edges in G. This problem appears in a number of different contexts since the early 80's (decentralized computation [1], load balancing [2], [3], [4]) and, recently, has attracted much attention for possible applications to sensor networks (data fusion problems [5], [6], [7], [8], [9], clock syncronization [10]) and to coordinated control for mobile autonomous agents [11], [12], [13], [14], [15], [16], [17]. Other places where consensus algorithms have been studied in general are [18], [19], [20], [21], [22], [23] Several algorithms for average consensus can be found in the literature: they differentiate on the basis of the amount of communication and computation they use, on their scalability with respect to the number of nodes, on their adaptability to time-varying graphs, and, finally, they can be deterministic or random.…”