Controlling Noncooperative Herds with Robotic Herders

Alyssa Pierson, Mac Schwager

IEEE Transactions on Robotics, 2018

Abstract

We present control strategies for robotic herders to drive noncooperative herds. Our key insight enforces geometrical relationships that map the combined dynamics to simple two-dimensional or threedimensional nonholonomic vehicle models. We prove convergence of singleagent herds to a goal and propose strategies for multi-agent herds, veriﬁed in simulations and experiments.

BibTeX

@article{pierson_controlling_2018,
  title = {Controlling {Noncooperative} {Herds} with {Robotic} {Herders}},
  volume = {34},
  issn = {1552-3098, 1941-0468},
  url = {http://ieeexplore.ieee.org/document/8237193/},
  abstract = {We present control strategies for robotic herders to drive noncooperative herds. Our key insight enforces geometrical relationships that map the combined dynamics to simple two-dimensional or threedimensional nonholonomic vehicle models. We prove convergence of singleagent herds to a goal and propose strategies for multi-agent herds, veriﬁed in simulations and experiments.},
  language = {en},
  number = {2},
  urldate = {2021-02-21},
  journal = {IEEE Transactions on Robotics},
  author = {Pierson, Alyssa and Schwager, Mac},
  month = apr,
  year = {2018},
  keywords = {multi-robot, control, planning},
  pages = {517--525},
  month_numeric = {4}
}