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Abstract

Jyh-Ming Lien, Samuel Rodriguez, Jean-Philippe Malric, Nancy M. Amato, "Shepherding Behaviors with Multiple Shepherds," In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), Apr 2005.
Proceedings(ps, pdf, abstract)

Shepherding behaviors are a type of group behaviors 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.