The problem of guiding a flock of several autonomous agents using repulsion force exerted by a smaller number of agents is called the shepherding problem and has been attracting attention due to its potential engineering applications. Although several works propose methodologies for achieving the shepherding task in this context, most assume that sheep agents have the same dynamics, which only sometimes holds in reality. The objective of this discussion paper is to overview a recent research trend addressing the gap mentioned above between the commonly placed uniformity assumption and the reality. Specifically, we first introduce recent guidance methods for heterogeneous flocks and then describe the prospects of the shepherding problem for heterogeneous flocks.
翻译:本文旨在讨论如何通过少量指导元素施加排斥力来引导群体中多个自主体的管理问题,被称为羊群管理问题,并因其在工程应用方面的潜在价值而备受关注。虽然一些工作提出了解决多样自主体的羊群管理任务的方法,但大多数都是基于一致性假设,并不符合实际情况。本文旨在概述最近的研究方向,以填补一致性假设与现实之间的差距。具体来说,我们首先介绍针对异构群体的最新引导方法,然后描述了异构羊群管理问题的前景。