Controlling Noncooperative Herds with Robotic Herders
Alyssa N. Pierson, Mac Schwager · IEEE Transactions on Robotics · 2017
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 three-dimensional nonholonomic vehicle models. We prove convergence of single-agent herds to a goal and propose strategies for multi-agent herds, verified in simulations and experiments.