Analysis of Joint Connectivity Condition for Multiagents With Boundary Constraints

The connectivity of a group of agents in a flocking scenario is caused either by individual's local cohesion interaction mechanism or by external boundary constraints. The latter case is particularly interesting when an individual's cohesion ability is not reliable due to the limitation of communication range. The effect of external boundary constraints on the connectivity property of multiagents has been intensively investigated in natural observation and engineering simulation. A theoretical analysis is given in this paper which reveals that a group of agents in a bounded plane can be almost always jointly connected and hence form a complete flock.