- Flocks, Herds, and Schools: A Distributed Behavioral Model - explores an approach based on simulation as an alternative to scripting the paths of each bird individually.
- Craig Reynold's Boids -
- Flocking in Webots - integrates Craig Reynold's flocking rules with kheperas running inside Webots.
- Boids: Background and Update - a distributed behavioral model of flocks, herds, and schools by Craig Reynolds.
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