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In this Paper we propose a simple yet effective set of local control rules tomake a group of "herder agents" collect and contain in a desired region anensemble of non-cooperative stochastic "target agents" in the plane. Weinvestigate the robustness of the proposed strategies to variations of thenumber of target agents and the strength of the repulsive force they feel whenin proximity of the herders. Extensive numerical simulations confirm theeffectiveness of the approach and are complemented by a more realisticvalidation on commercially available robotic agents via ROS.

Herding stochastic autonomous agents via local control rules and online global target selection strategies