Swarm modeling with roles in Julia

The video shows a swarm of 4 birds. Every bird will have one of 4 roles: leader, follower 1, follower 2 or tail. The leader is definining the flying route, the other roles are defining specific following behavior. The roles are rotated every 10 seconds.

The swarm is modeled and simulated with the Julia library ModelingToolkit.jl which implements equation-based modeling. The currently active set of equations is determined by the role distribution.