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

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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.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2018-08
Language
English
Article Type
Article
Citation

IEEE TRANSACTIONS ON ROBOTICS, v.34, no.4, pp.901 - 915

ISSN
1552-3098
DOI
10.1109/TRO.2018.2853610
URI
http://hdl.handle.net/10203/245687
Appears in Collection
EE-Journal Papers(저널논문)
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