A Caltech Library Service

Robotic Herding of a Flock of Birds Using an Unmanned Aerial Vehicle

Paranjape, Aditya A. and Chung, Soon-Jo and Kim, Kyunam and Shim, D. Hyunchul (2018) Robotic Herding of a Flock of Birds Using an Unmanned Aerial Vehicle. . (Unpublished)

[img] PDF - Submitted Version
See Usage Policy.


Use this Persistent URL to link to this item:


In this paper, we derive an algorithm for enabling a single robotic unmanned aerial vehicle to herd a flock of birds away from a designated volume of space, such as the air space around an airport. The herding algorithm, referred to as the m-waypoint algorithm, is designed using a dynamic model of bird flocking based on Reynolds’ rules. We derive bounds on its performance using a combination of reduced-order modeling of the flock’s motion, heuristics, and rigorous analysis. A unique contribution of our work is the experimental demonstration of several facets of the herding algorithm on flocks of live birds reacting to a robotic pursuer. The experiments allow us to estimate several parameters of the flocking model, and especially the interaction between the pursuer and the flock. The herding algorithm is also demonstrated using numerical simulations.

Item Type:Report or Paper (Discussion Paper)
Chung, Soon-Jo0000-0002-6657-3907
Additional Information:This work was supported by the National Science Foundation CAREER Award NSF IIS-1253758 and the California Institute of Technology. The authors thank Shripad Gade for his contributions to the initial phase of this project, and the anonymous reviewers for their insightful comments.
Funding AgencyGrant Number
Subject Keywords:Aerial robotics, field robots, biologically-inspired robots, motion control
Record Number:CaltechAUTHORS:20180706-131611070
Persistent URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:87601
Deposited By: George Porter
Deposited On:06 Jul 2018 21:58
Last Modified:06 Jul 2018 21:58

Repository Staff Only: item control page