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.
Men- don¸ ca, R., Hirata, S., Kubo, T., Ikeda, K., Yamamoto, S.: Herding mechanisms to main- tain the cohesion of a harem group: Two interaction phases during herding
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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.