Effective Herding in Shepherding Problem in V-formation Control

Abstract

The shepherding problem is to guide or control a number of sheep by means of a small number of shepherds, which has useful applications outside the original sheep setting, such as to robotics and crowd control. Many simulations have been conducted to investigate the motion of a group, whereas less research has focused on controlling a group. Therefore, the present paper aims to clarify effective group control through the shepherding problem. Specifically, we focus on a simple algorithm called V-formation control and execute computer simulations.