Examples of Biological Swarms

A strikingly photographed piece on examples of animal swarms and their advantages.  Recently broadcast on US PBS as 'The Gathering Swarm' and available here.  This does not address how we could mimic them, but gives examples of the use of biomimicry.  It has been shown that some of these group behaviors can be produced by very simple embedded rules.   How can we use that to create collaborative behavior?