FIEDLER’S THREAD

rSwarm · connectivity-preserving flock ▮

MESH HELD

▶ click the field to drop an RF jammer · ESC to cancel

click a drone — lose it to the fire
drag on the field — push the flock
◆ command relays detections home

Situation

A wildfire front is splitting. The fleet must keep eyes on both heads — but every drone is also a radio relay back to incident command. Stretch too far, or fly into an RF jammer, and the mesh partitions: the island that loses command goes dark — its detections never land.

Comms-aware flocking adds one term: climb the algebraic connectivity λ₂ of the link graph. The swarm spends a few bodies to hold a thread across the gap — flocking by link quality, not just geometry.

λ₂ · togetherness 0.00

0 · SEVEREDCONNECTED →

detections reaching command 100%

0 · DARK FLEETALL REPORTING →

Islands

Drones up

Live links

Alignment

Fire head Astandby

Fire head Bstandby

Tuning

comm radius R2.0

connectivity gain κ1.5

Console

Legend

fleet head A (λ₂ vector +)
fleet head B (λ₂ vector −)
incident command — pinned relay sink
the thread — link about to snap
severed: island lost command
RF jammer — links die inside it

One operator, two readings — the same leaky-integrator + graph-Laplacian that runs your conviction voting runs this flock. The cyan pulses are detections hopping the mesh home.
edge-freq-surfer/docs/12 · prototypes/flocking_consensus · TASK-080