Probability of connectedness for the SSN vs. number of agents for different values of the number of nearest neighbors .

<p>The SSN corresponds to a specific configuration of the swarm in which nodes are placed in a unit square independently through a uniform distribution. Then each node is connected to its nearest neighbors to form the -nearest graph. For each value of the outdegree , the maximum size of the swarm population —given by with <a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0082578#pone.0082578-Balister1" target="_blank">[30]</a>— ensuring the connectedness of the SSN is represented by a colored dot with the associated vertical dashed line.