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Swarms of birds are able to coordinate in large numbers without colliding and are rarely attacked, due to each bird following three simple rules - maintain a reasonable distance, fly at the same speed and direction as neighbors, and stay near the center of neighbors. Computer scientists had failed to replicate this behavior through choreography but Craig Reynolds succeeded by developing a model called boids where each bird acts autonomously based on these three rules, displaying emergent behavior where the swarm is able to coordinate at a large scale with low failure rates without a central coordinator.