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Guidance by multiple sheepdogs including abnormalities

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Abstract

In this paper, we propose a method for efficiently guiding a large flock of sheep agents through the cooperation of multiple sheepdog agents even in the presence of anomalies, and verify its performance in computer experiments. In particular, this paper evaluates the proposed method extensively in addition to Tashiro et al., (Guidance by multiple sheepdogs including abnormalities. Swarm2021: The Fifth International Symposium on Swarm Behavior and Bio-Inspired Robotics, pp 1818–1823, 2022), and summarizes the effectiveness of the proposed method on six abnormal sheepdog herding systems based on three different anomalies, while changing the size of the herding systems.The results show that the proposed MSR algorithm (LeBlanc et al., IEEE J Select Areas Commun 31(4):766–781, 2013) can guide a group of sheep agents more efficiently and reliably than an efficient extension (Tashiro et al., Herd guidance by multiple sheepdogs. In: Swarm2021: The 4th International Symposium on Swarm Behavior and Bio-Inspired Robotics, 397–408, 2021; Kubo et al., Artif Life Robot 27(2):416–427, 2022) to multiple sheepdogs of the conventional single sheepdog method (Sueoka et al., Trans Jpn Soc Mech Eng Ser C 79(800):1046–1055), even when abnormal sheepdogs are included.

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Authors and Affiliations

  1. Japan Maritime Self-Defense Force, Shinjuku, Tokyo, Japan

    Midori Tashiro

  2. Department of Computer Science, National Defense Academy of Japan, Hashirimizu 1-10-20, Yokosuka, Kanagawa, Japan

    Masao Kubo & Hiroshi Sato

  3. Department of Information and Systems Engineering, Fukuoka Institute of Technology, 3-30-1 Wajiro-higashi, Higashi-ku, Fukuoka, Japan

    Akihiro Yamaguchi

Authors
  1. Midori Tashiro
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  2. Masao Kubo
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  3. Hiroshi Sato
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  4. Akihiro Yamaguchi
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Correspondence to Masao Kubo.

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This work was presented in part at the joint symposium of the 27th International Symposium on Artificial Life and Robotics, the 7th International Symposium on BioComplexity, and the 5th International Symposium on Swarm Behavior and Bio-Inspired Robotics (Online, January 25–27, 2022).

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Tashiro, M., Kubo, M., Sato, H. et al. Guidance by multiple sheepdogs including abnormalities. Artif Life Robotics 27, 714–725 (2022). https://doi.org/10.1007/s10015-022-00807-1

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