Extended formation algorithm for combination of subgroups

Flocking algorithms for a multi-agent system are distributed algorithms that only have simple rules for each agent but generate complex formational movement. These algorithms are known as swarm intelligence and are robust and disaster tolerant for most cases. On the other hand, most of organizations are constructed from smaller groups, we call it subgroup here. It means activities of organization should be determined by its subgroups but flocking algorithm itself does not have such feature. To express this feature, we extend flocking algorithm to be able to contain subgroups of agents. Also we add flocking algorithm the term that indicates the relationship with other subgroups. By this extension, flocking algorithm is be able to form specific shape more flexibly.