  In this report we show the emergent behavior of a group of agents, ordered
from 1 to n, performing deviated, linear, cyclic pursuit, in the presence of a
broadcast guidance control. Each agent senses the relative position of its
target, i.e. agent i senses the relative position of agent i+1. The broadcast
control, a velocity signal, is detected by a random set of agents in the group.
We assume the agents to be modeled as single integrators. We show that the
emergent behavior of the group is determined by the deviation angle and by the
set of agents detecting the guidance control.
