Fig. 11
Numerical simulation of the BCM on a swarm of \(100\) robots, with two light sources located at \((\pm 100, 0)\). With an observation range of \(\rho = 100\), the swarm consensually rotates around both light sources (left), whereas a smaller range of \(\rho = 10\) lets the swarm split into two sub-swarms rotating around each light source (right). The trajectory of \(10\) randomly selected robots are shown, along with the final position of all robots as black dots