The article presents a self-organizing model of group formation in three-dimensional space, focusing on the spatial dynamics of animal groups such as fish schools and bird flocks. The model reveals significant behavioral transitions in these groups due to minor changes in individual interactions, highlighting the importance of collective memory in these transitions. Collective memory refers to how the previous structure of the group influences future collective behavior as individual interactions change. The model demonstrates that differences among individuals, such as speed, turning rate, and the size of behavioral zones, can influence their spatial positions within the group. These differences lead to various collective behaviors, including swarm, torus, dynamic parallel group, and highly parallel group. The study also shows that these transitions are influenced by the previous history of the group, even though individuals have no explicit knowledge of this history. The findings have implications for understanding the evolution and ecological importance of animal groups, suggesting that the evolution of individual behavioral responses may be more complex than previously thought.The article presents a self-organizing model of group formation in three-dimensional space, focusing on the spatial dynamics of animal groups such as fish schools and bird flocks. The model reveals significant behavioral transitions in these groups due to minor changes in individual interactions, highlighting the importance of collective memory in these transitions. Collective memory refers to how the previous structure of the group influences future collective behavior as individual interactions change. The model demonstrates that differences among individuals, such as speed, turning rate, and the size of behavioral zones, can influence their spatial positions within the group. These differences lead to various collective behaviors, including swarm, torus, dynamic parallel group, and highly parallel group. The study also shows that these transitions are influenced by the previous history of the group, even though individuals have no explicit knowledge of this history. The findings have implications for understanding the evolution and ecological importance of animal groups, suggesting that the evolution of individual behavioral responses may be more complex than previously thought.