  We study the large time behavior of a system of interacting agents modeling
the relaxation of a large swarm of robots, whose task is to uniformly cover a
portion of the domain by communicating with each other in terms of their
distance. To this end, we generalize a related result for a Fokker-Planck-type
model with a nonlocal discontinuous drift and constant diffusion, recently
introduced by three of the authors, of which the steady distribution is
explicitly computable. For this new nonlocal Fokker-Planck equation, existence,
uniqueness and positivity of a global solution are proven, together with
precise equilibration rates of the solution towards its quasi-stationary
distribution. Numerical experiments are designed to verify the theoretical
findings and explore possible extensions to more complex scenarios.
