Follow-the-leader algorithm in swarm formation: literature on the subject? In an AI strategy game simulation, I devised an algorithm for forming a group and swarming a known location without communication among soldiers (ie. every individual agent makes a locally optimum decision without general knowledge of the map).

I'm trying to get a more rigorous understanding of any background literature on similar algorithms. Surely this is not an original idea, but I don't even know what terms to start googling for.

Here is diagram of the functioning of the algorithm.



Every circle is a soldier, with the center number representing a uniquely assigned soldier_id. Soliders have finite vision range but know the global position of the "X".

When prompted to form a swarm, soldiers start looking for the soldier within its vision range that had the smallest soldier_id and follows it. If it is itself the lowest soldier_id in range, it starts going in direction of the X. This leads to an organic formation of all the soldiers, with the soldier with the lowest soldier_id at the helm.

As I said, I'm trying to get a sense of general literature on similar algorithms and I don't have nearly enough experience general knowledge of computer science to know where to start. Perhaps there are similar ideas in place in bee or ant colonies or other biological systems. Perhaps even in cell formation?

I'm not even sure this is the appropriate place to ask this question. If it isn't, any pointers would be appreciated.
Bernard Chazelle has done some work on the convergence of bird flocking, and he's considered models such as follow-the-leader and variants.