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This paper addresses multi-agent control under an environment where both agent-to-agent communication and one-to-all broadcast are available. The problem studied here is a consensus problem for a pre-specified location, i.e. collecting the agents at a desired location in an n-dimensional space, with a limited communication range and an unlimited broadcast range, which is a nice example to be solved under the mixed environment. For solving this, we first introduce a concept of the connecteddoi:10.1080/00207179.2013.868608 fatcat:bxnaqph42zhznndfd32e2hkjcy