In the last decades, an impressive thrust of research has been devoted to distributed algorithms and their applications in several technological fields. Emerging networking applications allowing peer to peer communication, such as ad hoc wireless communication networks and sensor networks, motivated research on multiple devices connected with decentralized architectures.

One fundamental behavior of a network of agents such as sensor or robotic  networks is the consensus among agents on a variable achieved by an iterative algorithm performed by each node. In robotic networks, consensus allows decentralized communication architectures to implement some fundamental global tasks such as rendezvous, flocking, formation control.