Robotics: Science and Systems XIII
Herding by Caging: a Topological Approach towards Guiding Moving Agents via Mobile Robots
Anastasiia Varava, Kaiyu Hang, Danica Kragic, Florian PokornyAbstract:
In this paper, we propose a solution to the problem of {\it herding by caging}: given a set of mobile robots (called herders) and a group of moving agents (called sheep), we move the latter to some predefined location in such a way that they cannot escape from the robots while moving. We model the interaction between the herders and the sheep by assuming that the former exert virtual ``repulsive forces" pushing the sheep away from them. These forces induce a potential field, in which the sheep move in a way that does not increase their potential. This enables the robots to partially control the motion of the sheep. We formalize this behavior geometrically by applying the notion of {\it caging}, widely used in robotic grasping. We show that our approach is provably correct in the sense that the sheep cannot escape from the robots. We propose an RRT-based motion planning algorithm, demonstrate its probabilistic completeness, and evaluate it in simulations.
Bibtex:
@INPROCEEDINGS{Varava-RSS-17, AUTHOR = {Anastasiia Varava AND Kaiyu Hang AND Danica Kragic AND Florian Pokorny}, TITLE = {Herding by Caging: a Topological Approach towards Guiding Moving Agents via Mobile Robots}, BOOKTITLE = {Proceedings of Robotics: Science and Systems}, YEAR = {2017}, ADDRESS = {Cambridge, Massachusetts}, MONTH = {July}, DOI = {10.15607/RSS.2017.XIII.074} }