Related papers: Communication-Free Shepherding Navigation with Mul…
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…
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 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…
The main contribution of this paper is a novel method allowing an external observer/controller to steer and guide swarms of identical and indistinguishable agents, in spite of the agents' lack of information on absolute location and…
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…
Multi-agent shepherding represents a challenging distributed control problem where herder agents must coordinate to guide independently moving targets to desired spatial configurations. Most existing control strategies assume cohesive…
In this study, we propose a new sheepdog-inspired control method for a swarm of small unmanned aerial vehicles (UAVs), which predicts the swarm behavior while explicitly accounting for the motion constraints of real robots.…
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,…
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…
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.…
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…
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…
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…
This paper introduces a novel bio-mimetic approach for distributed control of robotic swarms, inspired by the collective behaviors of swarms in nature such as schools of fish and flocks of birds. The agents are assumed to have limited…
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…
Here we consider the communications tactics appropriate for a group of agents that need to "swarm" together in a highly adversarial environment. Specfically, whilst they need to cooperate by exchanging information with each other about…
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…
A leader-follower framework is proposed for multi-robot navigation of large scale teams where the leader agents corral the follower agents. A group of leaders is modeled as a 2D deformable object where discrete masses (i.e., leader robots)…
Collective migration of cells and animals often relies on a specialised set of "leaders", whose role is to steer a population of naive followers towards some target. We formulate a continuous model to understand the dynamics and structure…
This paper addresses the need for fast, lightweight, vision-guided swarming under limited computation and no explicit communication network or position source. The study develops a multi-agent optic flow sensing framework, then integrates…