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In this paper, we consider the problem of protecting a high-value unit frominadvertent attack by a group of agents using defending robots. Specifically,we develop a control strategy for the defending agents that we call "dogrobots" to prevent a flock of "sheep agents" from breaching a protected zone.We take recourse to control barrier functions to pose this problem and exploitthe interaction dynamics between the sheep and dogs to find dogs' velocitiesthat result in the sheep getting repelled from the zone. We solve a QPreactively that incorporates the defending constraints to compute the desiredvelocities for all dogs. Owing to this, our proposed framework is composable\textit{i.e.} it allows for simultaneous inclusion of multiple protected zonesin the constraints on dog robots' velocities. We provide a theoretical proof offeasibility of our strategy for the one dog/one sheep case. Additionally, weprovide empirical results of two dogs defending the protected zone from uptoten sheep averaged over a hundred simulations and report high success rates. Wealso demonstrate this algorithm experimentally on non-holonomic robots. Videosof these results are available at https://tinyurl.com/4dj2kjwx.

Noncooperative Herding With Control Barrier Functions: Theory and Experiments