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arXiv · 2407.15701

Robotic Shepherding in Cluttered and Unknown Environments using Control Barrier Functions

Mahmoud Hamandi·Farshad Khorrami·Anthony Tzes
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Abstract

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.

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Mahmoud Hamandi, Farshad Khorrami, Anthony Tzes. 2024-07-22. Robotic Shepherding in Cluttered and Unknown Environments using Control Barrier Functions. https://arxiv.org/abs/2407.15701

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