Allocentric Flocking

Understanding how group-level dynamics arise from individual interactions re- mains a core challenge in collective behavior research. Traditional models assume that animals follow simple behavioral rules, like explicitly aligning with neighbors, yet experimental support for such interactions is often lacking. Here we consider a model grounded in the neurobiological principles underlying animals navigational circuits, particularly the fact that animals encode their headings, and also bearings to objects (e.g., other individuals) in their environment, via a world-centered--allocentric--neural coding. We compare this to an egocentric representation, where bearings are encoded with respect to the arbitrary heading of the animal. An allocentric framework, as op- posed to an egocentric one, is shown to enable effective tracking of dynamically moving targets. Moreover, we demonstrate that when individuals themselves act as sensory inputs to each other, that sophisticated, coherent collective motion can emerge di- rectly from navigational circuits (and thus, may readily evolve in nature), without requiring explicit alignment, or additional rules of interaction.