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. 2016 Aug 23;6:31808. doi: 10.1038/srep31808

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Copyright © 2016, The Author(s)

This work is licensed under a Creative Commons Attribution 4.0 International License. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in the credit line; if the material is not included under the Creative Commons license, users will need to obtain permission from the license holder to reproduce the material. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/

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(a) Order vs non-aligner fraction of swarms with varying system sizes, = 10⁰. There is a clear transition from an ordered state with to a disordered state with low at non-aligner fractions above a critical value, f*. (b) Simulation snapshot with a value of f below the critical value, the agents (aligners shown in blue and non-aligners in red) all travel in the same direction (black arrow heads). (c) When the non-aligner fraction is larger than the critical value, the agents try to move in different directions, resulting in a net zero polarization. (d) f* for the order-disorder transition (green) as a function of d_v/d_r compared to the non-aligner fraction at which the measured average cohesion becomes greater than that of the average alignment (red). The blue curve is the result of our analytical approximation comparing average alignment and cohesiveness.

Inline graphic — (a) Order vs non-aligner fraction of swarms with varying system sizes, = 10⁰. There is a clear transition from an ordered state with to a disordered state with low at non-aligner fractions above a critical value, f*. (b) Simulation snapshot with a value of f below the critical value, the agents (aligners shown in blue and non-aligners in red) all travel in the same direction (black arrow heads). (c) When the non-aligner fraction is larger than the critical value, the agents try to move in different directions, resulting in a net zero polarization. (d) f* for the order-disorder transition (green) as a function of d_v/d_r compared to the non-aligner fraction at which the measured average cohesion becomes greater than that of the average alignment (red). The blue curve is the result of our analytical approximation comparing average alignment and cohesiveness.