In the shepherding problem, an external agent (the shepherd) attempts to influence the behaviour of a swarm of agents (the sheep) by steering them towards a goal that is known to the shepherd but not the sheep. This chapter outlines some of the dynamics inside a shepherding task known as herding, focusing on what we call the stall distance. We describe the stall distance as the minimum distance that the shepherd must maintain from all members of the swarm while carrying out the primary task of herding the swarm to a particular location. This chapter shows how herding performance is influenced by setting the value for stall distance to an appropriate level in a herding model. A connection is made between the concept of stall distance for shepherds herding sheep agents in the model and real-world shepherds herding a group of sheep.
The Influence of Stall Distance on Effective Shepherding of a Swarm
Unmanned Syst. Tech.
20.03.2021
17 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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