In this paper, we consider the privacy preservation problem in continuous-time average consensus algorithms with strongly connected and balanced graphs, against either internal honest-but-curious agents or external eavesdroppers. A novel algorithm is proposed, which adds edge-based perturbation signals to process of computation. Our can be divided into two phases: a coordinated scrambling phase...

We study the effect of communication delays on distributed consensus algorithms. Two ways to model delays on a network are presented. The first model assumes that each link delivers messages with a fixed (constant) amount of delay, and the second model is more realistic, allowing for i.i.d. time-varying bounded delays. In contrast to previous work studying the effects of delays on consensus alg...