This article proposes the concept of basis behaviors as ubiquitous general building blocks for synthesizing artificial group behavior in multiagent systems and for analyzing group behavior in nature. We demonstrate the concept through examples implemented both in simulation and on a group of physical mobile robots. The basis behavior set we propose, consisting of avoidance, safe-wandering, following, aggregation, dispersion, and homing, is constructed from behaviors commonly observed in a variety of species in nature. The proposed behaviors are manifested spatially but have an effect on more abstract modes of interaction, including the exchange of information and cooperation. We demonstrate how basis behaviors can be combined into higher-level group behaviors commonly observed across species. The combination mechanisms we propose are useful for synthesizing a variety of new group behaviors, as well as for analyzing naturally occurring ones.
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