@inbook{26d5062a3f28477bb203faf3f9ba588e,
title = "Shepherding Autonomous Goal-Focused Swarms in Unknown Environments Using Hilbert Space-Filling Paths",
abstract = "A novel technique has been developed for autonomous swarm-based unknown environment scouting. A control method known as swarm shepherding was employed, which replicates the behaviour seen when a sheepdog guides a herd of sheep to an objective location. The guidance of the swarm agents was implemented using low computation cost, force-based behaviours. The exploration task was augmented by introducing swarm member role assignments, including a role which imposes a localised covering area for agents which stray too far from the swarm global centre of mass. The agents then proceeded to follow a Hilbert space-filling curve (HSFC) path within their localised region. The simulation results demonstrated that the inclusion of the HSFC paths improved the efficiency of goal-based exploration of the environment, which became more prominent with an increase in the density of the number of goals in the environment.",
keywords = "Herding, Hilbert space-filling curves, Robotic exploration, Shepherding, Swarm robotics",
author = "Long, {Nathan K.} and Matthew Garratt and Karl Sammut and Daniel Sgarioto and Abbass, {Hussein A.}",
year = "2021",
doi = "10.1007/978-3-030-60898-9_2",
language = "English",
isbn = "9783030608972",
series = "Unmanned System Technologies",
publisher = "Springer ",
pages = "31--50",
editor = "Abbass, {Hussein A.} and Hunjet, {Robert A.}",
booktitle = "Shepherding UxVs for Human-Swarm Teaming",
}