Convergence of different linear and non-linear Vicsek models

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Global analysis of multi-agent systems based on Vicsek’s model (2007, methodology): “Some sufficient/necessary conditions for the heading consensus of the group under model (4) have been proposed in the past few years [3], [8], [7], [9], [?], [14], in which connectivity of the group plays an essential role.”
Convergence in Multiagent Coordination, Consensus, and Flocking (2005, result): “This result is proved in [9] and [4] for the special case of the symmetric equal neighbor model and in [11], [7], for the more general symmetric model.”
Global Analysis of Multi-Agent Systems Based on Vicsek's Model (2009, methodology): “Theorem 1: [4], [15] Under Assumption 1, the consensus of the group is achieved, i.”
On Krause's Multi-Agent Consensus Model With State-Dependent Connectivity (2008, background): “, [5], [16], [17], [25], [28], and [26], [27] for surv eys.”
Convergence Speed in Distributed Consensus and Averaging (2009, unknown): “Under the additional assumption of a bidirectional model, the bounded interconnectivity time assumption is unnecessary, as established in [20, 6] for the bidirectional equal-neighbor model, and in [17, 25] for the general case.”