  A system of particles with motility variable in terms of a vision-type of
perception is here investigated by a combination of Langevin dynamics
simulations in two-dimensional systems and an analytical approach based on
conservation law principles. Persistent swirling with predetermined direction
is here induced by differentiating the self-propulsion direction and the
perception cone axis. Clusters can have a fluid-like center with a rotating
outer layer, or display a solid-like rotation driven by the outer layer
activity. Discontinuous motility with misaligned perception might therefore
serve as a powerful self-organization strategy in micro-robots.
