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The paper studies the problem of distributed average consensus in sensor networks with quantized data and random link failures. To achieve consensus, dither (small noise) is added to the sensor states before quantization. When the quantizer range is unbounded (countable number of quantizer levels), stochastic approximation shows that consensus is asymptotically achieved with probability one and in mean square to a finite random variable. The authors show that the meansquared error (m.s.e.) can be made arbitrarily small by tuning the link weight sequence, at a cost of the convergence rate of the algorithm. To study dithered consensus with random links when the range of the quantizer is bounded, they establish uniform boundedness of the sample paths of the unbounded quantizer.
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