Robotic herding flight using herding primitives and wavefront algorithms

Shripad Gade; Aditya A. Paranjape; Soon Jo Chung

Robotic herding flight using herding primitives and wavefront algorithms

Shripad Gade, Aditya A. Paranjape, Soon Jo Chung

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

Abstract

This paper is concerned with robotic herding of a swarm of birds by another adversarial agent, referred to as the pursuer. The objective of herding is to prevent the birds from entering a specified volume of space, such as the air space around an airport. In this paper, the n-Wavefront algorithm, introduced by the authors in a prior paper, is analysed using tools from linear and nonlinear stability theory, with the aim of proving its performance and identifying the permissible and optimum values of the control parameters. It is shown that, using the n-Wavefront algorithm, a pursuer can successfully maneuver the birds around the prescribed perimeter while ensuring that the swarm does not undergo fragmentation as a result of its response to the presence of the pursuer.

Original language	English
Title of host publication	AIAA Guidance, Navigation, and Control Conference
Publisher	American Institute of Aeronautics and Astronautics
ISBN (Print)	9781624103896
Publication status	Published - 2016
Externally published	Yes
Event	AIAA Guidance Navigation and Control Conference and Exhibit 2016 - San Diego, United States of America Duration: 4 Jan 2016 → 8 Jan 2016 https://app.knovel.com/kn/resources/kpAIAAGN11/toc?b-q=AIAA%20Guidance%2C%20Navigation%2C%20and%20Control%20Conference%202016&include_synonyms=no&q=AIAA%20Guidance%2C%20Navigation%2C%20and%20Control%20Conference%202016&sort_on=default (Proceedings)

Conference

Conference	AIAA Guidance Navigation and Control Conference and Exhibit 2016
Country/Territory	United States of America
City	San Diego
Period	4/01/16 → 8/01/16
Internet address	https://app.knovel.com/kn/resources/kpAIAAGN11/toc?b-q=AIAA%20Guidance%2C%20Navigation%2C%20and%20Control%20Conference%202016&include_synonyms=no&q=AIAA%20Guidance%2C%20Navigation%2C%20and%20Control%20Conference%202016&sort_on=default (Proceedings)

Cite this

@inproceedings{1da4c582e3054a07bb153bced22baeb7,

title = "Robotic herding flight using herding primitives and wavefront algorithms",

abstract = "This paper is concerned with robotic herding of a swarm of birds by another adversarial agent, referred to as the pursuer. The objective of herding is to prevent the birds from entering a specified volume of space, such as the air space around an airport. In this paper, the n-Wavefront algorithm, introduced by the authors in a prior paper, is analysed using tools from linear and nonlinear stability theory, with the aim of proving its performance and identifying the permissible and optimum values of the control parameters. It is shown that, using the n-Wavefront algorithm, a pursuer can successfully maneuver the birds around the prescribed perimeter while ensuring that the swarm does not undergo fragmentation as a result of its response to the presence of the pursuer.",

author = "Shripad Gade and Paranjape, \{Aditya A.\} and Chung, \{Soon Jo\}",

note = "Publisher Copyright: {\textcopyright} 2016, (publisher). All rights reserved.; AIAA Guidance Navigation and Control Conference and Exhibit 2016 ; Conference date: 04-01-2016 Through 08-01-2016",

year = "2016",

language = "English",

isbn = "9781624103896",

booktitle = "AIAA Guidance, Navigation, and Control Conference",

publisher = "American Institute of Aeronautics and Astronautics",

address = "United States of America",

url = "https://app.knovel.com/kn/resources/kpAIAAGN11/toc?b-q=AIAA\%20Guidance\%2C\%20Navigation\%2C\%20and\%20Control\%20Conference\%202016\&include\_synonyms=no\&q=AIAA\%20Guidance\%2C\%20Navigation\%2C\%20and\%20Control\%20Conference\%202016\&sort\_on=default",

}

TY - GEN

T1 - Robotic herding flight using herding primitives and wavefront algorithms

AU - Gade, Shripad

AU - Paranjape, Aditya A.

AU - Chung, Soon Jo

PY - 2016

Y1 - 2016

N2 - This paper is concerned with robotic herding of a swarm of birds by another adversarial agent, referred to as the pursuer. The objective of herding is to prevent the birds from entering a specified volume of space, such as the air space around an airport. In this paper, the n-Wavefront algorithm, introduced by the authors in a prior paper, is analysed using tools from linear and nonlinear stability theory, with the aim of proving its performance and identifying the permissible and optimum values of the control parameters. It is shown that, using the n-Wavefront algorithm, a pursuer can successfully maneuver the birds around the prescribed perimeter while ensuring that the swarm does not undergo fragmentation as a result of its response to the presence of the pursuer.

AB - This paper is concerned with robotic herding of a swarm of birds by another adversarial agent, referred to as the pursuer. The objective of herding is to prevent the birds from entering a specified volume of space, such as the air space around an airport. In this paper, the n-Wavefront algorithm, introduced by the authors in a prior paper, is analysed using tools from linear and nonlinear stability theory, with the aim of proving its performance and identifying the permissible and optimum values of the control parameters. It is shown that, using the n-Wavefront algorithm, a pursuer can successfully maneuver the birds around the prescribed perimeter while ensuring that the swarm does not undergo fragmentation as a result of its response to the presence of the pursuer.

UR - http://www.scopus.com/inward/record.url?scp=84958092868&partnerID=8YFLogxK

M3 - Conference Paper

AN - SCOPUS:84958092868

SN - 9781624103896

BT - AIAA Guidance, Navigation, and Control Conference

PB - American Institute of Aeronautics and Astronautics

T2 - AIAA Guidance Navigation and Control Conference and Exhibit 2016

Y2 - 4 January 2016 through 8 January 2016

ER -

Robotic herding flight using herding primitives and wavefront algorithms

Abstract

Conference

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