Bounded-Hop Strong Connectivity for Flocking Swarms

In this paper, the authors consider a set of n mobile wireless nodes, which have no information about each other. The only information a single node holds is its current location and future mobility plan. They develop a two-phase distributed self-stabilizing scheme for producing a bounded hop-diameter communication graph. The first phase is dedicated to the construction of an underlying topology for the dissemination of data needed for the second phase. In the second phase the required topology is constructed by means of an asymmetric power assignment under two modes - static and dynamic.