From the top of my head it seems that the simplest (smallest edges) way to get a connected graph is strongly related to just having a loop that includes all nodes; therefore, the minimum number of edges will be just N, where N is the number of nodes. If there are already edges, just do something like connecting the longest existing directional path to the next longest path, which will not overlap with your current path until you form a complete loop (as soon as your path contains all the nodes, connect the ends, to form a loop.)
Not sure if there is a more formal definition of any of this, but it seems logical to me.
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