移動する複数のエージェントを，外部から制御可能な少数のエージェントで斥力を用いて 間接的に移動を制御し目的地に誘導する問題は，牧羊犬の羊追い行動から shepherding 問題 と呼ばれます．現実の場面ではエージェント群の振る舞いが一様であることはなく，むしろ不 均質（ヘテロ）な場合が少なくありません．しかしながら，そのような不均一性を状況を想定したアルゴリズ ムはあまり提案されていないのが現状です．そこで我々のグループでは不均質なエージェント群の shepherding 問題を研究しています．
従来手法の 1 つである farthest-agent targeting 法では対処できないようなエージェント群を誘導するアルゴリズムを提案しました．以下にアルゴリズムの動作の様子を示します．
藤岡さん卒論
日茂君卒論
参考文献
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