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

2. Local Control
Perception
Physics
Reasoning and Reaction.

3. 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.

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

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

6. 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

7. Collision Avoidance

8. Collision Avoidance

9. Collision Avoidance

10. 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.

11. 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.