![]() The first animation created with the model was Stanley and Stella in: Breaking the Ice (1987), followed by a feature film debut in Tim Burton's film Batman Returns (1992) with computer generated bat swarms and armies of penguins marching through the streets of Gotham City. Īt the time of proposal, Reynolds' approach represented a giant step forward compared to the traditional techniques used in computer animation for motion pictures. For stabilization of heterogeneous UAV-UGV teams, the model was adapted for using onboard relative localization by Saska et al. The Boids model can be used for direct control and stabilization of teams of simple unmanned ground vehicles (UGV) or micro aerial vehicles (MAV) in swarm robotics. It was for instance used in the 1998 video game Half-Life for the flying bird-like creatures seen at the end of the game on Xen, named "boid" in the game files. The boids framework is often used in computer graphics, providing realistic-looking representations of flocks of birds and other creatures, such as schools of fish or herds of animals. Unexpected behaviours, such as splitting flocks and reuniting after avoiding obstacles, can be considered emergent. The movement of Boids can be characterized as either chaotic (splitting groups and wild behaviour) or orderly. This steer defines the chance of the boid to become a leader and try to escape. Hartman and Benes introduced a complementary force to the alignment that they call the change of leadership. Olfaction was used to transmit emotion between animals, through pheromones modelled as particles in a free expansion gas. ![]() extended the basic model to incorporate the effects of fear. The basic model has been extended in several different ways since Reynolds proposed it. More complex rules can be added, such as obstacle avoidance and goal seeking. ![]()
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