We study a collective decision-making mechanism for a swarm of robots. Swarm robotics [9] is a novel approach in robotics that takes inspiration from social insects to deal with large groups of relatively simple robots. Robots in a swarm act only on the basis of local knowledge, without any centralized director, hence, in a completely self-organized and distributed manner. The behavior of the swarm is a result of the interaction of its components, the robots. The analysis of collective decision-making mechanisms plays a crucial role in the design of swarm behaviors.We analyze a swarm robotics system originally proposed by Montes de Oca et al. [7]. Robots in the swarm need to collectively decide between two possible actions to perform, henceforth referred to as action A and action B. Actions have the same outcome but different execution times. The goal of the swarm is to reach consensus on the action with the shortest execution time. In particular, Montes the Oca et al. studied this system in a collective transport scenario where robots in the swarm need to transport objects from a source area to a destination area. To this end, robots can choose between two possible paths. This corresponds to perform action A or action B. The two paths differ in length and thus in the traversal time. Each robot in the swarm has an opinion for a particular path. Moreover, an object is too heavy for a single robot to be transported. A team of 3 robots is needed. The team collectively decides which path to take considering the opinion favored by the majority.Opinion formation models, such as the majority-rule model by Galam [2], allow us to study and analyze this kind of systems. Krapivsky and Redner [4] provided an