Paper:
Language: English:

Research on the Sheepdog Problem Using Cellular Automata

Yoshinobu Adachi and Masayoshi Kakikura

Tokyo Denki University, 2-2 Nishiki-cho, Kanda, Chiyoda-ku, Tokyo 101-8457, Japan

Received: February 28, 2007

Accepted: June 14, 2007

Keywords: cellular automata, pursuit problem, multiple mobile robots, cooperative behavior

Journal ref: Journal of Advanced Computational Intelligence and Intelligent Informatics, Vol.11, No.9 pp. 1099-1106, 2007

Abstract

The simulation framework we propose for complex path planning problems with multiagent systems focuses on the sheepdog problem for handling distributed autonomous robot systems – an extension of the pursuit problem for handling one prey robot and multiple predator robot. The sheepdog problem involves a more complex issue in which multiple dog robot chase and herd multiple sheep robot. We use the Boids model and cellular automata to model sheep flocking and chase and herd behavior for dog robots. We conduct experiments using a Sheepdog problem simulator and study cooperative behavior.

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