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.
Single agent indirect herding of multiple targets: A switched adaptive control approach,
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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.