  Dynamical emergent patterns of swarms are now fairly well established in
nature, and include flocking and rotational states. Recently, there has been
great interest in engineering and physics to create artificial self-propelled
agents that communicate over a network and operate with simple rules, with the
goal of creating emergent self-organizing swarm patterns. In this paper, we
show that when communicating networks have range dependent delays, rotational
states which are typically periodic, undergo a bifurcation and create swarm
dynamics on a torus. The observed bifurcation yields additional frequencies
into the dynamics, which may lead to quasi-periodic behavior of the swarm.
