  This paper investigates coordination problems over packet-based communication
channels. We consider the scenario in which the communication between network
nodes is corrupted by unknown-but-bounded noise. We introduce a novel
coordination scheme, which ensures practical consensus in the noiseless case,
while preserving bounds on the nodes disagreement in the noisy case. The
proposed scheme does not require any global information about the network
parameters and/or the operating environment (the noise characteristics).
Moreover, network nodes can sample at independent rates and in an aperiodic
manner. The analysis is substantiated by extensive numerical simulations.
