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arXiv · 2411.04791

A Continuification-Based Control Solution for Large-Scale Shepherding

Beniamino Di Lorenzo·Gian Carlo Maffettone·Mario di Bernardo
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Abstract

In this paper, we address the large-scale shepherding control problem using a continuification-based strategy. We consider a scenario in which a large group of follower agents (targets) must be confined within a designated goal region through indirect interactions with a controllable set of leader agents (herders). Our approach transforms the microscopic agent-based dynamics into a macroscopic continuum model via partial differential equations (PDEs). This formulation enables efficient, scalable control design for the herders' behavior, with guarantees of global convergence. Numerical and experimental validations in a mixed-reality swarm robotics framework demonstrate the method's effectiveness.

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Beniamino Di Lorenzo, Gian Carlo Maffettone, Mario di Bernardo. 2024-11-07. A Continuification-Based Control Solution for Large-Scale Shepherding. https://arxiv.org/abs/2411.04791

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