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Robotic Herding Using Wavefront Algorithm: Performance and Stability

Gade, Shripad and Paranjape, Aditya A. and Chung, Soon-Jo (2016) Robotic Herding Using Wavefront Algorithm: Performance and Stability. In: AIAA Guidance, Navigation, and Control Conference, 2016. American Institute of Aeronautics and Astronautics (AIAA) , Reston, VA, Art. No. 2016-1378. ISBN 978-1-62410-389-6. http://resolver.caltech.edu/CaltechAUTHORS:20161220-143603084

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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. The n-Wavefront algorithm was introduced by the authors in a prior paper to enable herding of a swarm of birds using a robotic unmanned aerial vehicle. In this paper, the performance and stability characteristics are analyzed 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.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.2514/6.2016-1378DOIArticle
http://arc.aiaa.org/doi/abs/10.2514/6.2016-1378PublisherArticle
ORCID:
AuthorORCID
Chung, Soon-Jo0000-0002-6657-3907
Additional Information:© 2015 AIAA American Institute of Aeronautics and Astronautics. This work was supported by the National Science Foundation Career Award NSF IIS-1253758.
Group:GALCIT
Funders:
Funding AgencyGrant Number
NSFIIS-1253758
Other Numbering System:
Other Numbering System NameOther Numbering System ID
AIAA Paper2016-1378
Record Number:CaltechAUTHORS:20161220-143603084
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20161220-143603084
Official Citation:Shripad Gade, Aditya A. Paranjape, and Soon-Jo Chung. "Robotic Herding Using Wavefront Algorithm: Performance and Stability", AIAA Guidance, Navigation, and Control Conference, AIAA SciTech Forum, (AIAA 2016-1378) http://dx.doi.org/10.2514/6.2016-1378
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:73002
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:20 Dec 2016 23:06
Last Modified:04 Jan 2017 19:43

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