2024/07/22 by Hamandi, Mahmoud, Khorrami, Farshad, Tzes, Anthony · 2 citations
#FOS: Computer and information sciences #Multiagent Systems (cs.MA) #Robotics (cs.RO)
paper · doi:10.48550/arxiv.2407.15701
This paper introduces a novel control methodology designed to guide a collective of robotic-sheep in a cluttered and unknown environment using robotic-dogs. The dog-agents continuously scan the environment and compute a safe trajectory to guide the sheep to their final destination. The proposed optimization-based controller guarantees that the sheep reside within a desired distance from the reference trajectory through the use of Control Barrier Functions (CBF). Additional CBF constraints are employed simultaneously to ensure inter-agent and obstacle collision avoidance. The efficacy of the proposed approach is rigorously tested in simulation, which demonstrates the successful herding of the robotic-sheep within complex and cluttered environments.