Self-organization of collective escape in pigeon flocks

Sailfish generate foraging opportunities for seabirds in multi-species predator aggregations

While various marine predators form associations, the most commonly studied are those between subsurface predators and seabirds, with gulls, shearwaters or terns frequently co-occurring with dolphins, billfish or tuna. However, the mechanisms underlying these associations remain poorly understood. Three hypotheses have been proposed to explain the prevalence of these associations: (1) subsurface predators herd prey to the surface and make prey accessible to birds, (2) subsurface predators damage prey close to the surface and thereby provide food scraps to birds, and (3) attacks of underwater predators lower the cohesion of prey groups and thereby their collective defences making the prey easier to be captured by birds. Using drone footage, we investigated the interaction between Indo-Pacific sailfish (Istiophorus platypterus) and terns (Onychoprion sp.) preying on schooling fish off the eastern coast of the Malaysian peninsula. Through spatio-temporal analysis of the hunting behaviour of the two predatory species and direct measures of prey cohesion we showed that terns attacked when school cohesion was low, and that this decrease in cohesion was frequently caused by sailfish attacks. Therefore, we propose that sailfish created a by-product benefit for the bird species, lending support to the hypothesis that lowering cohesion can facilitate associations between subsurface predators and seabirds.

Controlling noisy herds

The wisdom of the crowd breaks down in small groups. While large flocks exhibit swarm intelligence to evade predators, small groups display erratic behavior, oscillating between unity and discord. We investigate these dynamics using small groups of sheep controlled by shepherd dogs in century-old sheepdog trials, proposing a two-parameter stochastic dynamic framework. Our model employs pressure (stimulus intensity) and lightness (response isotropy) to simulate herding and shedding behaviors. Light sheep rapidly achieve a stable herding state, while heavy sheep exhibit intermittent herding and orthogonal alignment to the dog. High response isotropy enhances group cohesion but complicates group splitting. We construct a unified phase diagram for sheep behavior, identifying three regimes-fleeing, flocking, and grazing-based on group size and stimulus specificity. Increasing stimulus specificity shifts small group behavior from grazing to fleeing, while larger groups exhibit flocking. This transition underscores the challenge of controlling small indecisive collectives. Introducing the Indecisive Collective Algorithm (ICA), we show that deliberate indecisiveness and stochasticity improve control efficiency. ICA outperforms traditional averaging-based algorithms in high-noise settings and excels in tasks requiring group splitting. Our study offers a foundational framework for controlling small, indecisive groups, applicable to biochemical reactions, cell populations, and opinion dynamics.

Perception of motion salience shapes the emergence of collective motions

Despite the profound implications of self-organization in animal groups for collective behaviors, understanding the fundamental principles and applying them to swarm robotics remains incomplete. Here we propose a heuristic measure of perception of motion salience (MS) to quantify relative motion changes of neighbors from first-person view. Leveraging three large bird-flocking datasets, we explore how this perception of MS relates to the structure of leader-follower (LF) relations, and further perform an individual-level correlation analysis between past perception of MS and future change rate of velocity consensus. We observe prevalence of the positive correlations in real flocks, which demonstrates that individuals will accelerate the convergence of velocity with neighbors who have higher MS. This empirical finding motivates us to introduce the concept of adaptive MS-based (AMS) interaction in swarm model. Finally, we implement AMS in a swarm of ~102 miniature robots. Swarm experiments show the significant advantage of AMS in enhancing self-organization of the swarm for smooth evacuations from confined environments.

Snail-inspired robotic swarms: a hybrid connector drives collective adaptation in unstructured outdoor environments

Terrestrial self-reconfigurable robot swarms offer adaptable solutions for various tasks. However, most existing swarms are limited to controlled indoor settings, and often compromise stability due to their freeform connections. To address these issues, we present a snail robotic swarm system inspired by land snails, tailored for unstructured environments. Our system also employs a two-mode connection mechanism, drawing from the adhesive capabilities of land snails. The free mode, mirroring a snail's natural locomotion, leverages magnet-embedded tracks for freeform mobility, thereby enhancing adaptability and efficiency. The strong mode, analogous to a snail's response to disturbance, employs a vacuum sucker with directional polymer stalks for robust adhesion. By assigning specific functions to each mode, our system achieves a balance between mobility and secure connections. Outdoor experiments demonstrate the capabilities of individual robots and the exceptional synergy within the swarm. This research advances the real-world applications of terrestrial robotic swarms in unstructured environments.

Characterizing Pairwise U-Turn Behavior in Fish: A Data-Driven Analysis

We applied the time-series clustering method to analyze the trajectory data of rummy-nose tetra (Hemigrammus rhodostomus), with a particular focus on their spontaneous paired turning behavior. Firstly, an automated U-turn maneuver identification method was proposed to extract turning behaviors from the open trajectory data of two fish swimming in an annular tank. We revealed two distinct ways of pairwise U-turn swimming, named dominated turn and non-dominated turn. Upon comparison, the dominated turn is smoother and more efficient, with a fixed leader-follower relationship, i.e., the leader dominates the turning process. Because these two distinct ways corresponded to different patterns of turning feature parameters over time, we incorporated the Toeplitz inverse covariance-based clustering (TICC) method to gain deeper insights into this process. Pairwise turning behavior was decomposed into some elemental state compositions. Specifically, we found that the main influencing factor for a spontaneous U-turn is collision avoidance with the wall. In dominated turn, when inter-individual distances were appropriate, fish adjusted their positions and movement directions to achieve turning. Conversely, in closely spaced non-dominated turn, various factors such as changes in distance, velocity, and movement direction resulted in more complex behaviors. The purpose of our study is to integrate common location-based analysis methods with time-series clustering methods to analyze biological behavioral data. The study provides valuable insights into the U-turn behavior, motion characteristics, and decision factors of rummy-nose tetra during pairwise swimming. Additionally, the study extends the analysis of fish interaction features through the application of time-series clustering methods, offering a fresh perspective for the analysis of biological collective data.

Sensory collectives in natural systems

Groups of animals inhabit vastly different sensory worlds, or umwelten, which shape fundamental aspects of their behaviour. Yet the sensory ecology of species is rarely incorporated into the emerging field of collective behaviour, which studies the movements, population-level behaviours, and emergent properties of animal groups. Here, we review the contributions of sensory ecology and collective behaviour to understanding how animals move and interact within the context of their social and physical environments. Our goal is to advance and bridge these two areas of inquiry and highlight the potential for their creative integration. To achieve this goal, we organise our review around the following themes: (1) identifying the promise of integrating collective behaviour and sensory ecology; (2) defining and exploring the concept of a 'sensory collective'; (3) considering the potential for sensory collectives to shape the evolution of sensory systems; (4) exploring examples from diverse taxa to illustrate neural circuits involved in sensing and collective behaviour; and (5) suggesting the need for creative conceptual and methodological advances to quantify 'sensescapes'. In the final section, (6) applications to biological conservation, we argue that these topics are timely, given the ongoing anthropogenic changes to sensory stimuli (e.g. via light, sound, and chemical pollution) which are anticipated to impact animal collectives and group-level behaviour and, in turn, ecosystem composition and function. Our synthesis seeks to provide a forward-looking perspective on how sensory ecologists and collective behaviourists can both learn from and inspire one another to advance our understanding of animal behaviour, ecology, adaptation, and evolution.

Emergence of intelligent collective motion in a group of agents with memory

Intelligent agents collect and process information from their dynamically evolving neighborhood to efficiently navigate through it. However, agent-level intelligence does not guarantee that at the level of a collective; a common example is the jamming we observe in traffic flows. In this study, we ask: how and when do the interactions between intelligent agents translate to desirable or intelligent collective outcomes? To explore this question, we choose a collective consisting of two kinds of agents with opposing desired directions of movement. Agents in this collective are minimally intelligent: they possess only a single facet of intelligence, viz., memory, where the agents remember how well they were able to travel in their desired directions and make up for their non-optimal past. We find that dynamics due to the agent's memory influences the collective, giving rise to diverse outcomes at the level of the group: from those that are undesirable to those that can be called "intelligent." When memory is short term, local rearrangement of agents leads to the formation of symmetrically jammed arrangements that take longer to unjam. However, when agents remember across longer time-scales, their dynamics become sensitive to small differences in their movement history. This gives rise to heterogeneity in the movement that causes agents to unjam more readily and form lanes.

Dynamics of collective motion across time and species

Most studies of collective animal behaviour rely on short-term observations, and comparisons of collective behaviour across different species and contexts are rare. We therefore have a limited understanding of intra- and interspecific variation in collective behaviour over time, which is crucial if we are to understand the ecological and evolutionary processes that shape collective behaviour. Here, we study the collective motion of four species: shoals of stickleback fish (Gasterosteus aculeatus), flocks of homing pigeons (Columba livia), a herd of goats (Capra aegagrus hircus) and a troop of chacma baboons (Papio ursinus). First, we describe how local patterns (inter-neighbour distances and positions), and group patterns (group shape, speed and polarization) during collective motion differ across each system. Based on these, we place data from each species within a 'swarm space', affording comparisons and generating predictions about the collective motion across species and contexts. We encourage researchers to add their own data to update the 'swarm space' for future comparative work. Second, we investigate intraspecific variation in collective motion over time and provide guidance for researchers on when observations made over different time scales can result in confident inferences regarding species collective motion. This article is part of a discussion meeting issue 'Collective behaviour through time'.

A multi-scale review of the dynamics of collective behaviour: from rapid responses to ontogeny and evolution

Collective behaviours, such as flocking in birds or decision making by bee colonies, are some of the most intriguing behavioural phenomena in the animal kingdom. The study of collective behaviour focuses on the interactions between individuals within groups, which typically occur over close ranges and short timescales, and how these interactions drive larger scale properties such as group size, information transfer within groups and group-level decision making. To date, however, most studies have focused on snapshots, typically studying collective behaviour over short timescales up to minutes or hours. However, being a biological trait, much longer timescales are important in animal collective behaviour, particularly how individuals change over their lifetime (the domain of developmental biology) and how individuals change from one generation to the next (the domain of evolutionary biology). Here, we give an overview of collective behaviour across timescales from the short to the long, illustrating how a full understanding of this behaviour in animals requires much more research attention on its developmental and evolutionary biology. Our review forms the prologue of this special issue, which addresses and pushes forward understanding the development and evolution of collective behaviour, encouraging a new direction for collective behaviour research. This article is part of a discussion meeting issue 'Collective behaviour through time'.

Inferring social influence in animal groups across multiple timescales

Many animal behaviours exhibit complex temporal dynamics, suggesting there are multiple timescales at which they should be studied. However, researchers often focus on behaviours that occur over relatively restricted temporal scales, typically ones that are more accessible to human observation. The situation becomes even more complex when considering multiple animals interacting, where behavioural coupling can introduce new timescales of importance. Here, we present a technique to study the time-varying nature of social influence in mobile animal groups across multiple temporal scales. As case studies, we analyse golden shiner fish and homing pigeons, which move in different media. By analysing pairwise interactions among individuals, we show that predictive power of the factors affecting social influence depends on the timescale of analysis. Over short timescales the relative position of a neighbour best predicts its influence and the distribution of influence across group members is relatively linear, with a small slope. At longer timescales, however, both relative position and kinematics are found to predict influence, and nonlinearity in the influence distribution increases, with a small number of individuals being disproportionately influential. Our results demonstrate that different interpretations of social influence arise from analysing behaviour at different timescales, highlighting the importance of considering its multiscale nature. This article is part of a discussion meeting issue 'Collective behaviour through time'.

Effects of shady environments on fish collective behavior

Despite significant efforts devoted to understanding the underlying complexity and emergence of collective movement in animal groups, the role of different external settings on this type of movement remains largely unexplored. Here, by combining time series analysis and complex network tools, we present an extensive investigation of the effects of shady environments on the behavior of a fish species (Silver Carp Hypophthalmichthys molitrix) within earthen ponds. We find that shade encourages fish residence during daylight hours, but the degree of preference for shade varies substantially among trials and ponds. Silver Carp are much slower and exhibit lower persistence in their speeds when under shade than out of it during daytime and nighttime, with fish displaying the highest persistence degree and speeds at night. Furthermore, our research shows that shade affects fish schooling behavior by reducing their polarization, number of interactions among individuals, and the stability among local neighbors; however, fish keep a higher local degree of order when under shade compared to nighttime positions.

Alignment with neighbours enables escape from dead ends in flocking models

Coordinated movement in animal groups (flocks, schools, herds, etc.) is a classic and well-studied form of collective behaviour. Most theoretical studies consider agents in unobstructed spaces; however, many animals move in often complicated environments and must navigate around and through obstacles. Here we consider simulated agents behaving according to typical flocking rules, with the addition of repulsion from obstacles, and study their collective behaviour in environments with concave obstacles (dead ends). We find that groups of such agents heading for a goal can spontaneously escape dead ends without wall-following or other specialized behaviours, in what we term 'flocking escapes'. The mechanism arises when agents align with one another while heading away from the goal, forming a self-stable cluster that persists long enough to exit the obstacle and avoids becoming trapped again when turning back towards the goal. Solitary agents under the same conditions are never observed to escape. We show that alignment with neighbours reduces the effective turning speed of the group while letting individuals maintain high manoeuvrability when needed. The relative robustness of flocking escapes in our studies suggests that this emergent behaviour may be relevant for a variety of animal species.

Emergence of splits and collective turns in pigeon flocks under predation

Complex patterns of collective behaviour may emerge through self-organization, from local interactions among individuals in a group. To understand what behavioural rules underlie these patterns, computational models are often necessary. These rules have not yet been systematically studied for bird flocks under predation. Here, we study airborne flocks of homing pigeons attacked by a robotic falcon, combining empirical data with a species-specific computational model of collective escape. By analysing GPS trajectories of flocking individuals, we identify two new patterns of collective escape: early splits and collective turns, occurring even at large distances from the predator. To examine their formation, we extend an agent-based model of pigeons with a 'discrete' escape manoeuvre by a single initiator, namely a sudden turn interrupting the continuous coordinated motion of the group. Both splits and collective turns emerge from this rule. Their relative frequency depends on the angular velocity and position of the initiator in the flock: sharp turns by individuals at the periphery lead to more splits than collective turns. We confirm this association in the empirical data. Our study highlights the importance of discrete and uncoordinated manoeuvres in the collective escape of bird flocks and advocates the systematic study of their patterns across species.