The problem of guiding multiple mobile agents to a destination by indirectly controlling their movements through repulsive forces applied by a small number of externally controlled agents is known as the shepherding problem, inspired by the herding behavior of sheepdogs. In real-world scenarios, the behavior of agent groups is often not uniform but heterogeneous. However, algorithms designed to address such heterogeneity have been limited.
Our research group focuses on the shepherding problem for heterogeneous agent groups. We have proposed an algorithm capable of guiding agent groups that cannot be managed using traditional methods, such as the farthest-agent targeting approach. The following illustrates the operation of the proposed algorithm.
藤岡さん卒論
日茂君卒論
References
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