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This paper considers the consensusability of multiagent systems with delay and packet dropout. By proposing a kind of predictor-like protocol, sufficient and necessary conditions are given for the mean-square consensusability in terms of system matrices, time delay, communication graph, and the packet drop probability. Moreover, sufficient and necessary conditions are also obtained for the formationability of multiagent systems.
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Xu et al. (2018) studied this question.
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