This project implements shepherding for a group of dynamic agents. We extend the work in van Havermaet (2023) to 3D and incorporate the collision avoidance technique in Olfati-Saber (2006) to maintain separation between shepherds.

Shepherding using van Havermaet technique with Olfati-Saber obstacle avoidance:

Here is a really big swarm

The code is opensource but, if you reference this work in your own reserach, please cite me. I have provided an example bibtex citation below:

@techreport{Jardine-2023, title={Shepherding via Pinning Control}, author={Jardine, P.T.}, year={2023}, institution={Royal Military College of Canada, Kingston, Ontario}, type={GitHub Repository} }

Alternatively, you can cite any of my related papers, which are listed in Google Scholar.