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Jyh-Ming Lien, O. Burchan Bayazit, Ross T. Sowell, Samuel Rodriguez, Nancy M. Amato, "Shepherding Behaviors," In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 4159-4164, New Orleans, Apr 2004.
Proceedings(ps, pdf, abstract)

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.