The main area for my MSc Thesis was the development of a language for programming emergent behaviour in multi-agent systems.
The system can be used for simple flocking or more complex multi agent animation. More details can be found in the Thesis.
Masters Thesis EBPL Userguide and Reference
Not really done much work on this for a few years but I will at some stage release the source code (which is in much need of updating and tidying up) If you would like the code just mail me and I will let you have it.