M Jaffar, Mohamed KhalidOtte, MichaelThis document describes how we implement a Rayleigh fading model for use in a multi-robot communication simulation. The main objective of this work is to characterize communication losses in multi-agent settings that require high levels of collaboration.Wireless CommunicationsMulti-agent systemsPhysics-based modellingSimulation of packet dropouts over wireless channels considering Rayleigh fading effectsArticle