I'm currently reading "Ant Encounters - Interaction Networks and Colony Behavior" by Deborah M.Gordon. It covers a lot of related material and is a very engaging read.
Each chapter describes a single mechanism found in biology: e.g., ant foraging, termite nest building, etc. For each such mechanism they first provide an accessible, well-written description of the process from a biological perspective, and then go on to simulate it using numerical analysis and computer simulation.
http://www.amazon.com/Self-Organization-Biological-Systems-P...
http://www.amazon.com/The-Ants-Bert-Holldobler/dp/0674040759