# gst: apropos of the shepherding problem, a collision-free model between sheep and shepherd

<< The shepherding problem refers to guiding a group of agents (called sheep) to a specific destination using an external agent with repulsive forces (called shepherd). Although various movement algorithms for the shepherd have been explored in the literature, there is a scarcity of methodologies for selective guidance, which is a key technology for precise swarm control. >>️

AA << study investigates the problem of guiding a single target sheep within a swarm to a given destination using a shepherd. (AA) first present (their) model of the dynamics of sheep agents and the interaction between sheep and shepherd agents. The model is shown to be well-defined with no collision if the interaction magnitude between sheep and shepherd is reasonably limited. Based on the analysis with Lyapunov stability principles, (AA) design a shepherd control law to guide the target sheep to the origin while avoiding collisions among sheep agents. >>️

Yaosheng Deng, Aiyi Li, Masaki Ogura, Naoki Wakamiya. Collision-Free Shepherding Control of a Single Target within a Swarm. arXiv: 2306.12044v1 [nlin.AO]. Jun 21, 2023.

https://arxiv.org/abs/2306.12044

Also:  behav, swarm, game, sadistic, ctz  in:  https://www.inkgmr.net/kwrds.html

Keywords: gst, behav, swarm, game