Ubiquitous computational devices, usually referred as agents, sense their environment, collect data and disseminate them with various degrees of precision and trust. The state where every agent has the average knowledge of all agents in the area is called average consensus. This is a typical distributed objective in these systems with numerous industrial and military applications. This paper reviews the recent theoretical developments in the area of distributed consensus with applications to unmanned vehicles navigation and discusses their integration into the C4ISR architecture. Simulation results are presented and evaluated. Future applications are considered with the adoption of more enhanced control methods.