Consensus protocols are distributed algorithms inudnetworked multi-agent systems. Based on the local information,udagents automatically converge to a common consensus stateudand the convergence speed is determined by the algebraicudconnectivity of the communication network. In order to achieveuda fast consensus seeking, we propose the multi-hop relayudprotocols, where each agent can expand its knowledge byudemploying multi-hop paths in the network.We demonstrate thatudmulti-hop relay protocols can enlarge the algebraic connectivityudwithout physically changing the network topology. Moreover,udcommunication delays are discussed and a tradeoff is identifiedudbetween the convergence speed and the time delay sensitivity.
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