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CS 420/594 — Biologically Inspired Computation
NetLogo Simulation

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It will not run on Windows 95 or Mac OS 8 or 9. Mac users must have OS X 10.2.6 or higher and use a browser that supports Java 1.4. Notice that each flock is.
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This page was automatically generated by NetLogo 3.1.4.Questions, problems? Contact feedback@ccl.northwestern.edu.

The applet requires Java 1.4.1 or higher. It will not run onWindows 95 or Mac OS 8 or 9. Mac users must have OS X 10.2.6 or higher and usea browser that supports Java 1.4. (Safari works, IE does not.Mac OS X comes with Safari. Open Safari and set it as your defaultweb browser under Safari/Preferences/General.)On other operating systems, you may obtain the latest Java plugin fromSun’s Java site. General information on the models, including instructions for running them on your own computer, is available from the NetLogo Simulation Information Page. To download this page, do not use 'Save As,' but right-click (or on Macs control-click) on this link. You also need to download the NetLogo program, which you can do by right-clicking or control-clicking this link.

created withNetLogo

view/download model file:Flocking.nlogo

WHAT IS IT?

This model is an attempt to mimic the flocking of birds. (Theresulting motion also resembles schools of fish.) The flocks thatappear in this model are not created or led in any way by specialleader birds. Rather, each bird is following exactly the same set ofrules, from which flocks emerge.

The birds follow three rules:'alignment', 'separation', and 'cohesion'. 'Alignment' means that abird tends to turn so that it is moving in the same direction thatnearby birds are moving. 'Separation' means that a bird will turn toavoid another bird which gets too close. 'Cohesion' means that a birdwill move towards other nearby birds (unless another bird is tooclose). When two birds are too close, the 'separation' rule overridesthe other two, which are deactivated until the minimum separation isachieved.

The three rules affect only the bird's heading. Each bird always moves forward at the same constant speed.

HOW TO USE IT

First, determine the number of birds you want in the simulation andset the POPULATION slider to that value. Press SETUP to create thebirds, and press GO to have them start flying around.

The defaultsettings for the sliders will produce reasonably good flockingbehavior. However, you can play with them to get variations:

Three TURN-ANGLE sliders control the maximum angle a bird can turn as a result of each rule.

VISION is the distance that each bird can see 360 degrees around it.

THINGS TO NOTICE

Central to the model is the observation that flocks form without a leader.

Thereare no random numbers used in this model, except to position the birdsinitially. The fluid, lifelike behavior of the birds is producedentirely by deterministic rules.

Also, notice that each flock isdynamic. A flock, once together, is not guaranteed to keep all of itsmembers. Why do you think this is?

After running the model for a while, all of the birds have approximately the same heading. Why?

Sometimesa bird breaks away from its flock. How does this happen? You may needto slow down the model or run it step by step in order to observe thisphenomenon.

THINGS TO TRY

Play with the sliders to see if you can get tighter flocks, looserflocks, fewer flocks, more flocks, more or less splitting and joiningof flocks, more or less rearranging of birds within flocks, etc.

Youcan turn off a rule entirely by setting that rule's angle slider tozero. Is one rule by itself enough to produce at least some flocking?What about two rules? What's missing from the resulting behavior whenyou leave out each rule?

Will running the model for a long timeproduce a static flock? Or will the birds never settle down to anunchanging formation? Remember, there are no random numbers used inthis model.

EXTENDING THE MODEL

Currently the birds can 'see' all around them. What happens if birdscan only see in front of them? The IN-CONE primitive can be used forthis.

Is there some way to get V-shaped flocks, like migrating geese?

What happens if you put walls around the edges of the world that the birds can't fly into?

Can you get the birds to fly around obstacles in the middle of the world?

Whatwould happen if you gave the birds different velocities? For example,you could make birds that are not near other birds fly faster to catchup to the flock. Or, you could simulate the diminished air resistancethat birds experience when flying together by making them fly fasterwhen in a group.

Are there other interesting ways you can makethe birds different from each other? There could be random variation inthe population, or you could have distinct 'species' of bird.

NETLOGO FEATURES

Notice the need for the SUBTRACT-HEADINGS primitive and specialprocedure for averaging groups of headings. Just subtracting thenumbers, or averaging the numbers, doesn't give you the results you'dexpect, because of the discontinuity where headings wrap back to 0 oncethey reach 360.

CREDITS AND REFERENCES

This model is inspired by the Boids simulation invented by CraigReynolds. The algorithm we use here is roughly similar to the originalBoids algorithm, but it is not the same. The exact details of thealgorithm tend not to matter very much -- as long as you havealignment, separation, and cohesion, you will usually get flockingbehavior resembling that produced by Reynolds' original model.Information on Boids is available at http://www.red3d.com/cwr/boids/.