Collective order in a selfish herd with relaxed agents

A common phenomena in biological systems is the emergence of collective order such as polarisation or milling. Understanding how collective behaviours form is an open question in biology. One common explanation for collective behaviours is known as the selfish herd hypothesis (SHH).Previous models of the SHH were successful in demonstrating agent clustering, but were unable to demonstrate sustained motion. In this work, we generalise and relax the principles of the SHH to find sustained motion and more complex collective behaviours such as milling.