Consensus on Lie Groups in the Presence of Unreliable Information Networks

While consensus in Euclidean spaces is well understood—including settings with intermittent, unreliable, or time-varying communication, many real-world systems do not evolve in flat vector spaces. Practical applications such as attitude synchronization, formation control, and robotic coordination naturally evolve on Lie groups. However, the lack of global linear structure complicates classical consensus analysis. In this work, we identify this gap and take steps toward bridging it.

Unpublished