@article{leaderlessconsensusofahierarchicalcyber,
  title = {Leaderless Consensus of a Hierarchical Cyber-Physical System},
  author = {Xiao Chen and Yanjun Li and Arman Goudarzi and Ji Xiang},
  year = {2020},
  eprint = {2004.07411},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2004.07411v2},
}