Shepherding Behaviors with Multiple Shepherds

Shepherding behaviors are a type of group be haviors in which one group (the shepherds) tries to control the motion of another group (the flock). Shepherding behaviors can be found in many forms in nature and have various important robotic applications. In this paper we extend our previous work of shepherding behaviors with a single shepherd to multiple shepherds. More specifically, we study how a group of shepherds can work cooperatively without communication to efficiently control the flock.

Authors

• Jyh-Ming Lien
• Samuel Rodríguez
• Jean-Phillipe Malric
• Nancy M. Amato

Keywords

• Motion control
• Robot kinematics
• Communication system control
• Application software
• Animation
• Animals
• Petroleum
• Dogs
• Computational modeling
• Computer simulation
• Separate Groups
• Dominant Group
• Repulsive Forces
• Group Of States
• External Agents
• Interesting Behavior
• Farm Environment
• Simple Environment
• Herding Behaviour
• Multiple Robots
• Flock Size
• Compact Area
• Large Flocks
• Computer Animation
• Flocking
• Shepherd ing
• Multiple Shepherds