As a small project for my Inventive Thinking class, I worked on a simulation of creatures avoiding each other or performing tasks like crossing a street or forming a swarm. The creatures navigate by choosing simple actions (like turning right or left) based on the "Looming" principle of obstacle avoidance studied by my thesis advisor, among others. The simulation runs in your web browser (Firefox or recent IE have been tested, but probably others as well). You can view it (fun to watch) and play with the parameters to your heart's content at this link: Looming Simulation