A backstepping control-barrier-function controller lets multiple herder robots push multiple evader robots into a goal region using only repulsive forces, keeping evaders from colliding.
IEEE Transactions on Intelligent Transportation Systems 23(8), 11811–11822 (2021)
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Multi-Robot Cooperative Herding through Backstepping Control Barrier Functions
A backstepping control-barrier-function controller lets multiple herder robots push multiple evader robots into a goal region using only repulsive forces, keeping evaders from colliding.