Proceedings of the 2013 International Symposium on Nonlinear Theory and its Applications


Session Number:A2L-C



Harnessing control of sheepdog agents by on-line clustering

Yuichiro SUEOKA,  Takuto KITA,  Masato ISHIKAWA,  Koichi OSUKA,  


Publication Date:

Online ISSN:2188-5079


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In this paper, we discuss a multi-robots (flock of sheep) control by a robot sheepdog from spatial discretization (e.g. cellular automata) approach. This work was motivated by Sheepdog Project, in which a mobile robot is developed to gather a flock of ducks and maneuver them to a specified goal position. Then, we construct a discrete model of sheepdog system and compare the discrete model to continuous model. Moreover, we proposed a control method to maneuver two groups of sheep to goal by on-line clustering.


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