The structure of the sentence is of the type - "Some bat caves, like honeybee hives, have residents that take on different duties such as defending the entrance (....) and scouting outside the cave for new food and roosting sites".
Now, the clause between 'defending the entrance' and 'and scouting outside' is actually modifying the 'defending' role. Seen in that way, the modifier should be of the form - acting as sentinels and sounding a warning...
Hence, (B) should be the right answer.
In (C), 'to act as sentinels' is not a correct way of modifying 'defending the entrance'.