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第101行： − 名称“ boid”对应于一个缩短版的“ bird-oid object” ，它指的是一个类似鸟的对象+ 第191行：
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第232行： − 自雷诺兹提出这个基本模型以来，它已经被扩展到几个不同的方面。例如，Delgado-Mata et al. ref+ 第297行：
第304行： − 扩展了基本模型，加入了恐惧的影响。嗅觉被用来在动物之间传递情感，通过一种自由膨胀气体中的粒子模拟信息素。哈特曼和贝内斯裁判+ 第351行：
第358行： − 引入了一种补充力量，他们称之为领导权的更迭。这头牛决定了它成为领导者并试图逃跑的机会。+ 第359行：
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无编辑摘要
Boids is an artificial life program, developed by Craig Reynolds in 1986, which simulates the flocking behaviour of birds. His paper on this topic was published in 1987 in the proceedings of the ACM SIGGRAPH conference. <ref>{{Cite book
Boids is an artificial life program, developed by Craig Reynolds in 1986, which simulates the flocking behaviour of birds. His paper on this topic was published in 1987 in the proceedings of the ACM SIGGRAPH conference. <ref>{{Cite book
Boids 是一个人工生命程序，由克雷格 · 雷诺兹于1986年开发，模拟鸟类的群集行为。他关于这个主题的论文发表在1987年的 ACM SIGGRAPH 会议记录上。引用{ Cite book
'''鸟群算法 Boids'''是模拟鸟类群集行为的人工生命项目，由'''克雷格·雷诺兹 Craig Reynolds'''于1986年开发。他关于这个主题的论文发表在1987年的 ACM SIGGRAPH 会议记录上。引用{ Cite book
| last1=Reynolds
| last1=Reynolds
The name "boid" corresponds to a shortened version of "bird-oid object", which refers to a bird-like object.<ref>{{Cite journal
The name "boid" corresponds to a shortened version of "bird-oid object", which refers to a bird-like object.<ref>{{Cite journal
| last1=Banks
| last1=Banks
}}</ref> Incidentally, "boid" is also a New York Metropolitan dialect pronunciation for "bird".
}}</ref> Incidentally, "boid" is also a New York Metropolitan dialect pronunciation for "bird".
} / ref 顺便说一句，“ boid”也是纽约都市方言中“ bird”的发音。
} / ref
'''鸟群算法 Boids'''是模拟鸟类群集行为的人工生命项目，由'''克雷格·雷诺兹 Craig Reynolds'''于1986年开发。他关于这个主题的论文发表在1987年的 ACM SIGGRAPH（美国计算机协会计算机图形专业组组织的计算机图形学顶级年度会议）会议记录上。“ boid”是“ bird-oid object”的缩写，指一个类鸟对象。恰巧，“boid”也是纽约都市方言中“bird”的发音。
As with most artificial life simulations, Boids is an example of emergent behavior; that is, the complexity of Boids arises from the interaction of individual agents (the boids, in this case) adhering to a set of simple rules. The rules applied in the simplest Boids world are as follows:
As with most artificial life simulations, Boids is an example of emergent behavior; that is, the complexity of Boids arises from the interaction of individual agents (the boids, in this case) adhering to a set of simple rules. The rules applied in the simplest Boids world are as follows:
与大多数人工生命模拟一样，Boids 是突发行为的一个例子; 也就是说，Boids 的复杂性来自于个体代理(这里是 Boids)遵循一系列简单规则的相互作用。在最简单的博伊德世界中适用的规则如下:
与大多数人工生命模拟一样，Boids 是'''涌现 Emergent'''行为的一个例子; 也就是说，Boids 的复杂性来自于遵循一系列简单规则的个体代理（这里是 Boids）的相互作用。在最简单的Bolds 世界中适用的规则如下:
* '''cohesion''': steer to move towards the average position (center of mass) of local flockmates
* '''cohesion''': steer to move towards the average position (center of mass) of local flockmates
* '''分离 Separation''': 避开当地同类拥挤处
* '''定位 Alignment''': 转向当地同类的平均方向
* '''凝聚 Cohesion''': 朝当地同类的平均方向（质心）移动
The basic model has been extended in several different ways since Reynolds proposed it. For instance, Delgado-Mata et al.<ref>
The basic model has been extended in several different ways since Reynolds proposed it. For instance, Delgado-Mata et al.<ref>
{{cite journal
{{cite journal
extended the basic model to incorporate the effects of fear. Olfaction was used to transmit emotion between animals, through pheromones modelled as particles in a free expansion gas. Hartman and Benes<ref>
extended the basic model to incorporate the effects of fear. Olfaction was used to transmit emotion between animals, through pheromones modelled as particles in a free expansion gas. Hartman and Benes<ref>
{{cite journal
{{cite journal
introduced a complementary force to the alignment that they call the change of leadership. This steer defines the chance of the boid to become a leader and try to escape.
introduced a complementary force to the alignment that they call the change of leadership. This steer defines the chance of the boid to become a leader and try to escape.
该基本模型自雷诺兹提出以来，已用多种方法扩展。例如，Delgado-Mata 等人扩展基本模型以加入恐惧的影响。利过一种可用自由膨胀气体中的粒子模拟的信息素，动物间用嗅觉来传递情感。'''哈特曼 Hartman'''和'''贝内斯 Benes'''为定位过程引入了一种补充力量，他们称之为领导权的更迭。这条决定了某只鸟成为领导者及试图逃跑的机会。
The movement of Boids can be characterized as either chaotic (splitting groups and wild behaviour) or orderly. 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. Unexpected behaviours, such as splitting flocks and reuniting after avoiding obstacles, can be considered emergent.
Boids 的运动可以表现为混乱(分裂的群体和野生行为)或有序。意想不到的行为，比如分散羊群和避开障碍后的团聚，可以被认为是紧急的。
Boids 的运动可以表现为混乱（分裂的群体和狂野的行为）或有序。意想不到的行为，比如群体分散和避开障碍后的团聚可以被认为是应急的。
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. 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. 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.
Boids 框架通常用于计算机图形学，提供鸟群和其他生物的逼真表现，比如鱼群或动物群。例如，在1998年的视频游戏《半条命》中，在游戏结束时，在游戏文件中被命名为“ boid”的类似鸟类的飞行生物就使用了这个名字。
Boids 框架通常用于计算机图形学，提供鸟群和其他生物（如鱼群）的逼真表现。例如，在1998年的视频游戏《'''半条命 Half-Life'''》中，Xen（游戏文件中命名为“ boid”）中游戏结束时出现的类似鸟类的飞行生物就使用了该框架。
--[[用户:Dorr|Dorr]]（[[用户讨论:Dorr|讨论]]）存疑
The Boids model can be used for direct control and stabilization of teams of simple Unmanned Ground Vehicles (UGV)<ref>{{cite conference |title= Design and analysis of Group Escape Behavior for distributed autonomous mobile robots |first1= Hongkyu |last1= Min |first2= Zhidong |last2= Wang |year= 2011 |conference= IEEE International Conference on Robotics and Automation (ICRA)|doi= 10.1109/ICRA.2011.5980123 }}</ref> or [[Micro air vehicle|Micro Aerial Vehicles]] (MAV)<ref>{{cite conference |title= Swarms of micro aerial vehicles stabilized under a visual relative localization |first1= Martin |last1= Saska |first2= Vakula |last2= Jan |first3= Preucil |last3= Libor |year= 2014 |conference= IEEE International Conference on Robotics and Automation (ICRA)|doi= 10.1109/ICRA.2014.6907374 }}</ref> in [[swarm robotics]]. For stabilization of heterogeneous UAV-UGV teams, the model was adapted for using onboard relative localization by Saska et al.<ref>{{cite conference |title= Coordination and Navigation of Heterogeneous UAVs-UGVs Teams Localized by a Hawk-Eye Approach |first1= Martin |last1= Saska |first2= Vonasek |last2= Vojtech |first3= Krajnik |last3= Tomas |first4= Preucil |last4= Libor |year= 2012 |conference= IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)|url=http://labe.felk.cvut.cz/~tkrajnik/ardrone/articles/formace.pdf}}</ref>
The Boids model can be used for direct control and stabilization of teams of simple Unmanned Ground Vehicles (UGV)<ref>{{cite conference |title= Design and analysis of Group Escape Behavior for distributed autonomous mobile robots |first1= Hongkyu |last1= Min |first2= Zhidong |last2= Wang |year= 2011 |conference= IEEE International Conference on Robotics and Automation (ICRA)|doi= 10.1109/ICRA.2011.5980123 }}</ref> or [[Micro air vehicle|Micro Aerial Vehicles]] (MAV)<ref>{{cite conference |title= Swarms of micro aerial vehicles stabilized under a visual relative localization |first1= Martin |last1= Saska |first2= Vakula |last2= Jan |first3= Preucil |last3= Libor |year= 2014 |conference= IEEE International Conference on Robotics and Automation (ICRA)|doi= 10.1109/ICRA.2014.6907374 }}</ref> in [[swarm robotics]]. For stabilization of heterogeneous UAV-UGV teams, the model was adapted for using onboard relative localization by Saska et al.<ref>{{cite conference |title= Coordination and Navigation of Heterogeneous UAVs-UGVs Teams Localized by a Hawk-Eye Approach |first1= Martin |last1= Saska |first2= Vonasek |last2= Vojtech |first3= Krajnik |last3= Tomas |first4= Preucil |last4= Libor |year= 2012 |conference= IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)|url=http://labe.felk.cvut.cz/~tkrajnik/ardrone/articles/formace.pdf}}</ref>