Consensus on compact Riemannian manifolds

In view of a fact that compact manifolds have the important application in practice, this paper provides a local consensus protocol for connected compact Riemannian manifolds, where communication network can be directed and dynamically switching. Meanwhile, with the help of the compression–decompression functions, we extend the local protocol and propose a global consensus algorithm for such manifolds. Furthermore, to demonstrate their effectiveness and efficiency, the global algorithm is applied to the consensus problem of rotation attitudes, together with a case simulation.