Related papers: Evolving Shepherding Behavior with Genetic Program…
Shepherding involves herding a swarm of agents (\emph{sheep}) by another a control agent (\emph{sheepdog}) towards a goal. Multiple approaches have been documented in the literature to model this behaviour. In this paper, we present a…
Designing systems for autonomous transport of groups of living agents has received a lot of attention in recent years due to a wealth of important potential applications. Biomimetic approaches are often sought, and a range of herding…
The simultaneous control of multiple coordinated robotic agents represents an elaborate problem. If solved, however, the interaction between the agents can lead to solutions to sophisticated problems. The concept of swarming, inspired by…
In this study, we consider the guidance control problem of the sheepdog system, which involves the guidance of the flock using the characteristics of the sheepdog and sheep. Sheepdog systems require a strategy to guide sheep agents to a…
Here we propose an evolutionary algorithm that self modifies its operators at the same time that candidate solutions are evolved. This tackles convergence and lack of diversity issues, leading to better solutions. Operators are represented…
Robotic shepherding problem considers the control and navigation of a group of coherent agents (e.g., a flock of bird or a fleet of drones) through the motion of an external robot, called shepherd. Machine learning based methods have…
The problem of guiding a flock of several autonomous agents using repulsion force exerted by a smaller number of agents is called the shepherding problem and has been attracting attention due to its potential engineering applications.…
The problem of guiding a flock of agents to a destination by the repulsion forces exerted by a smaller number of external agents is called the shepherding problem. This problem has attracted attention due to its potential applications,…
We investigate how a shepherd should move to effectively herd a flock towards a target. Using an agent-based (ABM) and a coarse-grained (ODE) model for the flock, we pose and solve for the optimal strategy of a shepherd that must keep the…
Automatic design is a promising approach to realizing robot swarms. Given a mission to be performed by the swarm, an automatic method produces the required control software for the individual robots. Automatic design has concentrated on…
The shepherding problem refers to guiding a group of agents (called sheep) to a specific destination using an external agent with repulsive forces (called shepherd). Although various movement algorithms for the shepherd have been explored…
A new model for evolving Evolutionary Algorithms (EAs) is proposed in this paper. The model is based on the Multi Expression Programming (MEP) technique. Each MEP chromosome encodes an evolutionary pattern that is repeatedly used for…
We study the shepherding control problem where a group of "herders" need to orchestrate their collective behaviour in order to steer the dynamics of a group of "target" agents towards a desired goal. We relax the strong assumptions of…
Swarm control is a difficult problem due to the need to guide a large number of agents simultaneously. We cast the problem as a shepherding problem, similar to biological dogs guiding a group of sheep towards a goal. The shepherd needs to…
A new model for evolving Evolutionary Algorithms is proposed in this paper. The model is based on the Linear Genetic Programming (LGP) technique. Every LGP chromosome encodes an EA which is used for solving a particular problem. Several…
In this paper, we consider the swarm-control problem of spatially separating a specified target agent within the swarm from all the other agents, while maintaining the connectivity among the other agents. We specifically aim to achieve the…
Robotic shepherding is a bio-inspired approach to autonomously guiding a swarm of agents towards a desired location. The research area has earned increasing research interest recently due to the efficacy of controlling a large number of…
In this paper, we consider the problem of protecting a high-value area from being breached by sheep agents by crafting motions for dog robots. We use control barrier functions to pose constraints on the dogs' velocities that induce…
This paper demonstrates the use of genetic algorithms for evolving: 1) a grandmaster-level evaluation function, and 2) a search mechanism for a chess program, the parameter values of which are initialized randomly. The evaluation function…
We propose a variation of the standard genetic algorithm that incorporates social interaction between the individuals in the population. Our goal is to understand the evolutionary role of social systems and its possible application as a…