14 papers
Collision-Free Shepherding Control of a Single Target within a Swarm
Yaosheng Deng, Aiyi Li, Masaki Ogura +1
The shepherding problem refers to guiding a group of agents (called sheep) to a specific destination using an external agent with repulsive forces (called shepherd). Although vario…
Shepherding Heterogeneous Flocks: Overview and Prospect
Anna Fujioka, Masaki Ogura, Naoki Wakamiya
The problem of guiding a flock of several autonomous agents using repulsion force exerted by a smaller number of agents is called the shepherding problem and has been attracting at…
Reduced-Order Model Predictive Control of a Fish Schooling Model
Masaki Ogura, Naoki Wakamiya
We study the problem of model predictive control (MPC) for the fish schooling model proposed by Gautrais et al. (Annales Zoologici Fennici, 2008). The high nonlinearity of the mode…
Communication-Free Shepherding Navigation with Multiple Steering Agents
Aiyi Li, Masaki Ogura, Naoki Wakamiya
Swarm guidance addresses a challenging problem considering the navigation and control of a group of passive agents. To solve this problem, shepherding offers a bio-inspired techniq…
Temporal Deep Unfolding for Nonlinear Maximum Hands-off Control
Masako Kishida, Masaki Ogura
This paper proposes a computational technique based on "deep unfolding" to solving the finite-time maximum hands-off control problem for discrete-time nonlinear stochastic systems.…
Event-Triggered Control for Mitigating SIS Spreading Processes
Kazumune Hashimoto, Yuga Onoue, Masaki Ogura +1
In this paper, we investigate the problem of designing event-triggered controllers for containing epidemic processes in complex networks. We focus on a deterministic susceptible-in…