Fig. 6: Cluster size dependence of the cluster swarming properties.
From: Directed swarm assembly due to mixed misaligned perception-dependent motility
a–c Snapshots steady state clusters with different number of particles, where red and blue particles indicate intrinsic right and left misaligned perceptions. d Time evolution of the cluster center of mass velocity uc for systems with varying number of total particles N. e Steady state values of the cluster velocity \({\overline{u}}_{{{{{\rm{c}}}}}}\), and f characteristic time to reach the steady state ts. Grey lines in (e, f) are a guide to eye, τB is the single particle ballistic time and v0 the singe particle self-propulsion velocity.
