Multi-robot Implicit Control of Massive Herds

This paper solves the problem of herding countless evaders by means a few robots. The objective is to steer all towards desired tracking reference while avoiding escapes. very challenging due highly complex repulsive evaders’ dynamics and underdetermined states control. We propose solution that based on Implicit Control novel dynamic assignment strategy select be directly controlled. former general technique explicitly computes control inputs even in input-nonaffine dynamics. latter built upon convex-hull clustering inspired Voronoi tessellation problem. combination both allows choose best control, others are indirectly controlled exploiting interactions among them. Simulations show massive herds can herd throughout patterns herders.