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They fly on the wing currents produced by the birds in front of them. It's similar to drafting someone in front of you while cycling or racing. The leader is breaking trail, and the followers are benefiting by excerpting less energy. They end up in a V-formation as birds join up one after the other and find a wing to fly on. After a while, the leader eventually gets tired and falls back onto the wing of another, giving a different bird the opportunity to spear-head through the wind.