Self-organization of collective escape in pigeon flocks
Fig 7
Effect of coordination forces on ‘in-conflict’ flock members within 30 meters to the predator in HoPE.
The density of turning-attraction (low center) and alignment (high center) forces (Eq 9) acting on the coordinate system of pigeon-agents that are in-conflict during the pursuit sequence shown in Fig 6. The triangle represents the position of each focal individual and the dotted line and arrow its heading. The predator sign represents the turning direction of predator avoidance. Alignment and centroid-attraction have opposite effects on turning direction relative to the agents’ headings and predator-avoidance is mostly in accordance with the centroid-attraction direction.