Some early graphs showing connectivity between five robots moving through 2-D space. There is a graph for each robot pair, showing how many hops a message takes to talk to each other over time.

This is the simplest (level 0) pathloss model, the plane-Earth model for an obstruction free path to determine whether two robots can speak either directly or transitively via a mulit-hop message. Here is a screen shot, the lines between robots mean direct connectivity.

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