hi, there are some alternatives, it all depends what you need, in term of, should it be 'leaderless', 'targetless' or/and 'focusless' and so on..

Two alternatives are:

Target-and-Hold, Focusless, Leaderless system. (hm, ok, its more a variant of the ftl, so perhaps not the thing you searched for)
Leaderless/Targetless - Focus Based Hydra (the one i would use, if you want a good, simple solution and you can live without focusless)