Abstract
The field of swarm guidance and control can rely on intrinsic strategies such as a rule-based system within each member of the swarm or extrinsic strategies, whereby an external agent guides the swarm. In the shepherding problem, sheepdogs drive and collect a flock (swarm) of sheep, guiding them to a goal location. In the case of multiple dogs guiding the swarm, we examine how shared contextual awareness of the sheepdog agents improves the performance when solving the shepherding problem. Specifically consensus around the dynamic centre of mass of a flock is shown to improve shepherding performance.
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Campbell, B., El-Fiqi, H., Hunjet, R., Abbass, H. (2021). Distributed Multi-agent Shepherding with Consensus. In: Tan, Y., Shi, Y. (eds) Advances in Swarm Intelligence. ICSI 2021. Lecture Notes in Computer Science(), vol 12690. Springer, Cham. https://doi.org/10.1007/978-3-030-78811-7_17
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DOI: https://doi.org/10.1007/978-3-030-78811-7_17
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