# Mean-square consensus of heterogeneous multi-agent systems with nonconvex constraints, Markovian switching topologies and delays

> Research article (Neurocomputing, 2018) · cited 55× · AI/ML

**Wikidata**: [openalex:W2790425074](https://www.wikidata.org/wiki/openalex:W2790425074)  
**Source**: https://4ort.xyz/entity/mean-square-consensus-of-heterogeneous-multi-agent-systems-with-nonconvex-constraints-markovian-switching-topologies-and