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Active matter is a 30-year-old subfield of statistical physics that aims to apply its tools to study the origins and universal traits of structure formation in large groups of nonequilibrium self-propelling agents, such as flocks of birds, swarms of insects or robots, or bacterial colonies. I will first review the scope of the field and present its main results and models. In the second part of the talk, I will focus on our ongoing research in the field, namely the effects of time delay and prediction in the interactions of individual active agents.