1. Department of Zoology, University of Oxford, Oxford OX1 3PS, UK
2. Department of Collective Behaviour, Max Planck Institute for Ornithology, Konstanz, Germany
3. Department of Biology, University of Konstanz, Konstanz, Germany
4. MTA-ELTE Statistical and Biological Physics Research Group, Hungarian Academy of Sciences, Budapest, Hungary
5. School of Computing, University of Leeds, Leeds LS2 9JT, UK