  This paper addresses the consensus problem of first-order continuous-time
multi-agent systems over undirected graphs. Each agent samples relative state
measurements in a self-triggered fashion and transmits the sum of the
measurements to its neighbors. Moreover, we use finite-level dynamic quantizers
and apply the zooming-in technique. The proposed joint design method for
quantization and self-triggered sampling achieves asymptotic consensus, and
inter-event times are strictly positive. Sampling times are determined
explicitly with iterative procedures including the computation of the Lambert
$W$-function. A simulation example is provided to illustrate the effectiveness
of the proposed method.
