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The simultaneous control of multiple coordinated robotic agents represents anelaborate problem. If solved, however, the interaction between the agents canlead to solutions to sophisticated problems. The concept of swarming, inspiredby nature, can be described as the emergence of complex system-level behaviorsfrom the interactions of relatively elementary agents. Due to the effectivenessof solutions found in nature, bio-inspired swarming-based control techniquesare receiving a lot of attention in robotics. One method, known as swarmshepherding, is founded on the sheep herding behavior exhibited by sheepdogs,where a swarm of relatively simple agents are governed by a shepherd (orshepherds) which is responsible for high-level guidance and planning. Manystudies have been conducted on shepherding as a control technique, ranging fromthe replication of sheep herding via simulation, to the control of uninhabitedvehicles and robots for a variety of applications. We present a comprehensivereview of the literature on swarm shepherding to reveal the advantages andpotential of the approach to be applied to a plethora of robotic systems in thefuture.

A Comprehensive Review of Shepherding as a Bio-inspired Swarm-Robotics Guidance Approach