@Article{IR-EE-RT_2007:037, author = {Bj{\"o}rn Johansson and Alberto Speranzon and Mikael Johansson and Karl Henrik Johansson},title = {On Decentralized Negotiation of Optimal Consensus},journal = {Automatica},volume = {44},pages = {1175-1179},year = {2008},month = April }