Flocking Geometric objects Many objects Simple motion - e.g., local rules, more physics, collision avoidance Consider other members.

Local Control Perception Physics Reasoning and Reaction.

Local Perception Limited field of view - modified by speed Importance by distance, proximity, angle Avoid bumping into neighbors Stay close to neighbors Match velocity of neighbors Draft behind member immediately ahead.

Global Perception General migratory urge Drawn to flock center Follow designated leader Not realistic, but facilitates control.

Physics Flight - thrust, lift, drag, gravity Perception Forces - flock centering, migration urge, etc. Other Forces - wind, collision avoidance.

Negotiating the Motion Objects to avoid External forces e.g., wind Flock centering Flock members to avoid Migratory urge Velocity matching Navigation Module Pilot Module Final desired velocity vector Current status Motion to be implemented Physical constraints Flight Module Flight articulation mechanisms controls

Collision Avoidance

Collision Avoidance

Collision Avoidance

Steer to Avoid - Simulating Sight Steer to closest point on boundary sphere Steer to closest point on boundary of silhouette Steer to first non-intersecting feeler Steer to closest background point of projection.

Flocking - Recap Fewer members than in particle systems Knowledge of, and reaction to, other members More physics - modeling flight, banking, etc. More “intelligence” - reasoning about path Emergent Behavior - global behavior from local rules.