论文标题
牧羊控制以将单个代理与群体分开
Shepherding Control for Separating a Single Agent from a Swarm
论文作者
论文摘要
在本文中，我们考虑了将群中的特定目标剂与其他所有代理之间的空间分开的群体控制问题，同时保持了其他代理之间的连通性。我们特别旨在通过设计外部试剂的运动算法（称为牧羊人）来实现分离，该算法在群体中施加反击力。在操纵微粒子和纳米颗粒的背景下，此问题具有潜在的应用。我们首先提出分离问题，其中群体（称为绵羊）由BOID模型建模。然后，我们分析研究了两肩群的特殊情况。通过利用分析，我们提出了牧羊人的潜在基于函数的运动算法，以实现分离，同时保持其余群体内的连通性。我们通过数值模拟证明了所提出的算法的有效性。
In this paper, we consider the swarm-control problem of spatially separating a specified target agent within the swarm from all the other agents, while maintaining the connectivity among the other agents. We specifically aim to achieve the separation by designing the movement algorithm of an external agent, called a shepherd, which exerts repulsive forces on the agents in the swarm. This problem has potential applications in the context of the manipulation of the swarm of micro- and nano-particles. We first formulate the separation problem, where the swarm agents (called sheep) are modeled by the Boid model. We then analytically study the special case of two-sheep swarms. By leveraging the analysis, we then propose a potential function-based movement algorithm of the shepherd to achieve separation while maintaining the connectivity within the remaining swarm. We demonstrate the effectiveness of the proposed algorithm with numerical simulations.
