# Pull-Based Distributed Event-triggered Consensus for Multi-agent Systems with Directed Topologies

arXiv: https://arxiv.org/abs/1410.4246 · HTML: https://mlsanity.com/paper/1410.4246/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 15 Oct 2014.

## Built on by (most cited first, 1 of 1)

- [Multi Robot Coordination in Highly Dynamic Environments: Tackling Asymmetric Obstacles and Limited Communication](https://mlsanity.com/paper/2509.08859/) (2025)

## Abstract (arXiv)

This paper mainly investigates consensus problem with pull-based event-triggered feedback control. For each agent, the diffusion coupling feedbacks are based on the states of its in-neighbors at its latest triggering time and the next triggering time of this agent is determined by its in-neighbors' information as well. The general directed topologies, including irreducible and reducible cases, are investigated. The scenario of distributed continuous monitoring is considered firstly, namely each agent can observe its in-neighbors' continuous states. It is proved that if the network topology has a spanning tree, then the event-triggered coupling strategy can realize consensus for the multi-agent system. Then the results are extended to discontinuous monitoring, i.e., self-triggered control, where each agent computes its next triggering time in advance without having to observe the system's states continuously. The effectiveness of the theoretical results are illustrated by a numerical example finally.