Experiments in automatic flock control

Vaughan, R., Sumpter, N., Henderson, J., Frost, A., & Cameron, S.

Robotics and Autonomous Systems, 31(1), 109-117, 2000.

DOI:10.1016/S0921-8890(99)00084-6

Used by the ASSISI | bf project

The Robot Sheepdog Project has developed a mobile robot that gathers a flock of ducks and manoeuvres them safely to a specified goal position. This is the first example of a robot system that exploits and controls an animal’s behaviour to achieve a useful task. A potential-field model of flocking behaviour was constructed and used to investigate methods for generalised flock control. One possible algorithm is described and demonstrated to work both in simulation and in the real world.