  This paper proposes a novel distributed event-triggered algorithmic solution
to the multi-agent average consensus problem for networks whose communication
topology is described by weight-balanced, strongly connected digraphs. The
proposed event-triggered communication and control strategy does not rely on
individual agents having continuous or periodic access to information about the
state of their neighbors. In addition, it does not require the agents to have a
priori knowledge of any global parameter. We show that, under the proposed law,
events cannot be triggered an infinite number of times in any finite period
(i.e., no Zeno behavior), and that the resulting network executions provably
converge to the average of the initial agents' states exponentially fast. We
also provide weaker conditions on connectivity under which convergence is
guaranteed when the communication topology is switching. Simulations illustrate
our results.
