Shepherding, the task of guiding a herd of autonomous individuals in a desired direction, is an essential skill to herd animals, enable crowd control and rescue from danger. Equipping robots with the capability of shepherding would allow performing such tasks with increased efficiency and reduced labour costs. So far, only single-robot or centralized multi-robot solutions have been proposed. The former is unable to observe dangers at any place surrounding the herd, and the latter does not generalize to unconstrained environments. Therefore, we propose a decentralized control algorithm for multi-robot shepherding, where the robots maintain a caging pattern around the herd to detect potential nearby dangers. When danger is detected, part of the robot swarm positions itself in order to repel the herd towards a safer region. We study the performance of our algorithm for different collective motion models of the herd. We task the robots to shepherd a herd to safety in two dynamic scenarios: (i) to avoid dangerous patches appearing over time and (ii) to remain inside a safe circular enclosure. Simulations show that the robots are always successful in shepherding when the herd remains cohesive, and enough robots are deployed.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Steering herds away from dangers in dynamic environments


    Beteiligte:
    Van Havermaet, Stef (Autor:in) / Simoens, Pieter (Autor:in) / Landgraf, Tim (Autor:in) / Khaluf, Yara (Autor:in)

    Erscheinungsdatum :

    2023-01-01


    Anmerkungen:

    ROYAL SOCIETY OPEN SCIENCE ; ISSN: 2054-5703



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    EPAS - steering away from danger

    Scoltock,J. | Kraftfahrwesen | 2011


    STEERING COLUMN INDUCED BREAK AWAY

    MALAPATI SRINIVAS REDDY / KADAM MANGESH | Europäisches Patentamt | 2022

    Freier Zugriff

    Steering column induced break away

    MALAPATI SRINIVAS REDDY / KADAM MANGESH | Europäisches Patentamt | 2023

    Freier Zugriff

    STEERING COLUMN SHROUD BREAK AWAY INTERFACE

    HARTMAN DAVID / READ SIMON | Europäisches Patentamt | 2023

    Freier Zugriff

    Hand-away sensing steering wheel and control method thereof

    LANG YUSHAN / CHENG QIAN / HUANG HAI | Europäisches Patentamt | 2023

    Freier Zugriff