A hybrid control policy combining goal-oriented steering and obstacle-tangent maneuvering enables multi-robot shepherding of non-cohesive targets, with simulations and robot experiments showing higher confinement rates than prior methods.
Flocking for multi-agent dynamic systems: algo- rithms and theory,
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A nonlinear distributed event-triggered formation controller for multi-agent systems based on distance measurements with control barrier functions for collision avoidance is proposed and validated via simulations and real-robot experiments.
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Multi-robot obstacle-aware shepherding of non-cohesive target agents
A hybrid control policy combining goal-oriented steering and obstacle-tangent maneuvering enables multi-robot shepherding of non-cohesive targets, with simulations and robot experiments showing higher confinement rates than prior methods.
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Distributed Event-Triggered Distance-Based Formation Control for Multi-Agent Systems
A nonlinear distributed event-triggered formation controller for multi-agent systems based on distance measurements with control barrier functions for collision avoidance is proposed and validated via simulations and real-robot experiments.