Shepherding Behaviors | Algorithms & Applications Group

Algorithms & Applications Group
Shepherding Behaviors

Shepherding Behaviors
supported by NSF, Texas Higher Education Coordinating Board
Jyh-Ming Lien, Samuel Rodriguez, Nancy M. Amato
Project Alumni: O. Burchan Bayazit, Ross T. Sowell

Shepherding behaviors are one class of flocking behaviors in which one or more external agents (called shepherds) attempt to control the motion of another group of agents (called flock) by exerting repulsive forces from shepherds to the flock.

Techniques for a single shepherd
Shepherding behaviors are a type of flocking behavior in which outside agents guide or control members of a flock. Shepherding behaviors can be found in various forms in nature. For example, herding, covering, patrolling and collecting are common types of shepherding behaviors. In this work, we investigate ways to simulate these types of behaviors.
Techniques for multiple shepherds
When the size of the flock gets large or if the flock's behavior makes it difficult to influence, a single shepherd cannot adequately control the flock. In this work, we study how a group of shepherds can work cooperatively without communication to efficiently control the flock.

Papers

Related Projects

Shepherding Behaviors with a Single Shepherd
Shepherding Behaviors with Multiple Shepherds
Group Behaviors using Rule-Based Roadmaps
Planning Motion Among Moving Obstacles
Composable Group Behaviors

Papers

Shepherding Behaviors with Multiple Shepherds, Jyh-Ming Lien, Samuel Rodriguez, Jean-Philippe Malric, Nancy M. Amato, In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), Apr 2005. Also, Technical Report, TR04-003, Parasol Laboratory, Department of Computer Science, Texas A&M University, Sep 2004.
Proceedings(ps, pdf, abstract) Technical Report(ps, pdf)

Shepherding Behaviors, Jyh-Ming Lien, O. Burchan Bayazit, Ross T. Sowell, Samuel Rodriguez, Nancy M. Amato, In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 4159-4164, New Orleans, Apr 2004. Also, Technical Report, TR03-006, Parasol Laboratory, Department of Computer Science, Texas A&M University, Nov 2003.
Proceedings(ps, pdf, abstract) Technical Report(ps, pdf)

Better Shepherding Behaviors Using Improved Shepherd Locomotion, Ross T. Sowell, O. Burchan Bayazit, Jyh-Ming Lien, Nancy M. Amato, Technical Report, TR03-009, Parasol Laboratory, Department of Computer Science, Texas A&M University, Aug 2003.
Technical Report(ps, pdf, abstract)

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