On statistical analysis for shepherd guidance system

Tsunoda, Yusuke; Sueoka, Yuichiro; Osuka, Koichi

doi:10.1109/robio.2017.8324588

Cited by 11 publications

(2 citation statements)

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“…Three different shepherding control strategies were used. The first was the centerof-group targeting controller used in [44], the second was the online target switching controller, the same as used in [39], and the final method was the furthest agent targeting, where the shepherd constantly aims to repel the furthest swarm agent from the goal location towards it. The results for the local camera-based shepherding showed that the shepherd mostly failed to guide the swarm to the goal when using the method derived from [39], whereas the shepherd always succeeded in guiding the swarm when using the furthest agent targeting technique.…”

Section: Shepherding Control Methodsmentioning

confidence: 99%

“…Tsunoda, Sueoka and Osuka [44] used similar swarm agent behaviors to [43]; however, with an introduced angle of error for the shepherd to swarm agent repulsion, where the sheep would not move directly away from the shepherd, rather, in a direction with an offset angle. The angles tested were based on a normal distribution of varying standard deviation (SD).…”

Section: Classic Shepherdingmentioning

confidence: 99%

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A Comprehensive Review of Shepherding as a Bio-inspired Swarm-Robotics Guidance Approach

Long¹,

Sammut²,

Sgarioto³

et al. 2019

Preprint

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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 nature, can be described as the emergence of complex systemlevel behaviors from the interactions of relatively elementary agents. Due to the effectiveness of solutions found in nature, bioinspired swarming-based control techniques are receiving a lot of attention in robotics. One method, known as swarm shepherding, is founded on the sheep herding behavior exhibited by sheepdogs, where a swarm of relatively simple agents are governed by a shepherd (or shepherds) which is responsible for high-level guidance and planning. Many studies have been conducted on shepherding as a control technique, ranging from the replication of sheep herding via simulation, to the control of uninhabited vehicles and robots for a variety of applications. We present a comprehensive review of the literature on swarm shepherding to reveal the advantages and potential of the approach to be applied to a plethora of robotic systems in the future.

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Section: Shepherding Control Methodsmentioning

confidence: 99%

Section: Classic Shepherdingmentioning

confidence: 99%