Emergent pattern formation in self-propelled particle (SPP) systems isextensively studied because it addresses a range of swarming phenomena whichoccur without leadership. Here we present a dynamic SPP model in which asensory blind zone is introduced into each particle's zone of interaction.Using numerical simulations we discovered that the degradation of millingpatterns with increasing blind zone ranges undergoes two distinct transitions,including a new, spatially nonhomogeneous transition that involves cessation ofparticles' motion caused by broken symmetries in their interaction fields. Ourresults also show the necessity of nearly complete panoramic sensory abilityfor milling behavior to emerge in dynamic SPP models, suggesting a possiblerelationship between collective behavior and sensory systems of biologicalorganisms.
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