Summary
2023
Session Number:A2L-2
Session:
Number:A2L-23
Proposal and Evaluation of Pursuit Formations Based on Cyclic Pursuit Dynamics
Fujioka Anna, Ogura Masaki, Wakamiya Naoki,
pp.30-33
Publication Date:2023-09-21
Online ISSN:2188-5079
Summary:
The problem of guiding a flock of several autonomous agents using repulsion force exerted by a smaller number of agents is called the shepherding problem and has been attracting attention due to its potential engineering applications. Although several works propose methodologies for achieving the shepherding task in this context, most assume that sheep agents have the same dynamics, which only sometimes holds in reality. The objective of this discussion paper is to overview a recent research trend addressing the gap mentioned above between the commonly placed uniformity assumption and the reality. Specifically, we first introduce recent guidance methods for heterogeneous flocks and then describe the prospects of the shepherding problem for heterogeneous flocks.