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Jyh-Ming Lien, O. Burchan Bayazit, Ross T. Sowell, Samuel Rodriguez, Nancy M. Amato, "Shepherding Behaviors," Technical Report, TR03-006, Parasol Laboratory, Department of Computer Science, Texas A&M University, Nov 2003.
Technical Report(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. In this work, we investigate ways to simulate these types of behaviors.