2019年
牧羊犬のヒツジ追い現象に着想を得たエージェント群の機動制御法の理論解析
計測自動制御学会論文集
- ,
- ,
- ,
- 巻
- 55
- 号
- 8
- 開始ページ
- 507
- 終了ページ
- 515
- 記述言語
- 日本語
- 掲載種別
- 研究論文(学術雑誌)
- DOI
- 10.9746/sicetr.55.507
- 出版者・発行元
- 公益社団法人 計測自動制御学会
<p>In this paper, we deal with the control problem to manipulate autonomous multiple agents (a flock of sheep) escaping from an agent (a sheepdog) according to nonlinear interaction. This work was motivated by so-called sheepdog system inspired by sheepdog shepherding: a flock of several thousands of sheep are controlled by only a few sheepdogs in the real world. It is an interesting control system because one or more sheepdogs, who act as a small number of controllers, can control many sheep that cannot be directly controlled, taking advantage of their own maneuverability. For this reason, there have been many studies about this system; however, these studies have been limited to building numerical models or performing simulation analyses. Therefore, we aim to clarify the control principle theoretically. For this purpose, we conduct theoretical analysis for a sheepdog-type navigation system which we design based on a flock control model proposed by Vaughan et.al. in the case that one sheep is controlled by a sheepdog. Moreover, we also demonstrate the results by using simulations to confirm the validity of the analysis.</p>
- リンク情報
- ID情報
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- DOI : 10.9746/sicetr.55.507
- ISSN : 0453-4654
- J-Global ID : 201902242714007558
- CiNii Articles ID : 130007689461
- CiNii Books ID : AN00072392