In each setup, the fish and bees have a binary collective choice to make - the bees can choose to congregate around one of two robots and the fish can swim either clockwise or counterclockwise around the circle.

在每个设置中，鱼和蜜蜂都有一个二元的集体选择——蜜蜂可以选择聚集在两个机器人之一周围，鱼可以顺时针或逆时针绕圆圈游动。