Group behaviors for systems with significant dynamics

Birds, fish, and many other animals travel as a flock, school, or herd. Animals in these groups must remain in close proximity while avoiding collisions with neighbors and with obstacles. We would like to reproduce this behavior for groups of simulated creatures traveling fast enough that dynamics plays a significant role in determining their movement. In this paper, we describe an algorithm for controlling the movements of creatures that travel as a group and evaluate the performance of the algorithm with three simulated systems: legged robots, humanlike bicycle riders, and point-mass systems. Both the legged robots and the bicyclists are dynamic simulations that must control balance, facing direction, and forward speed as well as position within the group. The simpler point-mass systems are included because they help us to understand the effects of the dynamics on the performance of the algorithm.