Abstract:In this paper, we consider the problem of protecting a highvalue area from being breached by sheep agents by crafting motions for dog robots. We use control barrier functions to pose constraints on the dogs' velocities that induce repulsions in the sheep relative to the highvalue area. This paper extends the results developed in our prior work on the same topic in three ways. Firstly, we implement and validate our previously developed centralized herding algorithm on many robots. We show herding of up to five … Show more
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