Mardavij Roozbehani Alexandre Megretski Emilio Frazzoli Lyapunov analysis of quadratically symmetric neighborhood consensus algorithms. 2252-2257 2008 CDC http://dx.doi.org/10.1109/CDC.2008.4739472 conf/cdc/2008 db/conf/cdc/cdc2008.html#RoozbehaniMF08