Chapters in this book

1. Frontmatter i
2. Contents vii
3. Acknowledgments ix
4. Chapter 1. Introduction 1
5. Chapter 2. Coming Together 14
6. Chapter 3. Information Transfer 44
7. Chapter 4. Making Decisions 77
8. Chapter 5. Moving Together 101
9. Chapter 6. Synchronization 130
10. Chapter 7. Structures 151
11. Chapter 8. Regulation 173
12. Chapter 9. Complicated Interactions 198
13. Chapter 10. The Evolution of Co-operation 223
14. Chapter 11. Conclusions 253
15. References 259
16. Index 293