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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. IEEE Transactions on Robotics, 34 (4). pp. 901-915. ISSN 1552-3098. http://resolver.caltech.edu/CaltechAUTHORS:20180706-131611070

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Abstract

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 the paper 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:Article
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/TRO.2018.2853610DOIArticle
ORCID:
AuthorORCID
Paranjape, Aditya A.0000-0002-3164-3215
Chung, Soon-Jo0000-0002-6657-3907
Kim, Kyunam0000-0002-7803-1582
Shim, D. Hyunchul0000-0002-1929-7022
Additional Information:© 2018 IEEE. Manuscript received October 12, 2017; revised April 4, 2018; accepted April 7, 2018. Date of publication August 2, 2018; date of current version August 15, 2018. This paper was recommended for publication by Guest Editor P. Dames and Editor F. Park upon evaluation of the reviewers’ comments. This work was supported in part by the National Science Foundation CAREER Award NSF IIS 1253758 & 1664186 and in part by the California Institute of Technology. The authors would like to thank Shripad Gade for his contributions to the initial phase of this project, and the anonymous reviewers for their insightful comments.
Group:GALCIT
Funders:
Funding AgencyGrant Number
NSFIIS-1253758
NSFIIS-1664186
CaltechUNSPECIFIED
Subject Keywords:Aerial robotics, field robots, biologically-inspired robots, motion control
Record Number:CaltechAUTHORS:20180706-131611070
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20180706-131611070
Official Citation:A. A. Paranjape, S. Chung, K. Kim and D. H. Shim, "Robotic Herding of a Flock of Birds Using an Unmanned Aerial Vehicle," in IEEE Transactions on Robotics, vol. 34, no. 4, pp. 901-915, Aug. 2018. doi: 10.1109/TRO.2018.2853610
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:87601
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:06 Jul 2018 21:58
Last Modified:20 Aug 2018 16:11

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