1A1-W07 Distributed control for sheepdog system by multiple robots(Robotic systems based on autonomous decentralized architecture)

Abstract

In this paper, we investigate gathering control for sheepdog system by multiple mobile robots. This work was motivated by so-called sheepdog harnessing, in which a mobile robot is developed to gather a flock of ducks or sheep and maneuver them to a specified goal position. Based on discrete model of sheepdog system, we examine the validity of cooperative control in order to drive all sheep to one goal position and that of distributed control in order to maneuver them to a different goal position.