This paper investigates a modification of cyclic constant bearing (CB)
pursuit in a multi-agent system in which each agent pays attention to a
neighbor and a beacon. The problem admits shape equilibria with collective
circling about the beacon, with the circling radius and angular separation of
agents determined by choice of parameters in the feedback law. Stability of
circling shape equilibria is shown for a 2-agent system, and the results are
demonstrated on a collective of mobile robots tracked by a motion capture
system