This article proposes a solution to the herding problem, a class of pursuit evasion problem in a stochastic framework. The problem involves a "pursuer" agent trying to herd a stochastically moving "evader" agent into a pen. The problem is stated in terms of allowable sequential actions of the two agents. The solution is obtained by applying the principles of stochastic dynamic programming. Three algorithms for solution are presented with their accompanying results.
Shedied, S. A.,
Pursuit evasion: The herding noncooperative dynamic game-the stochastic model.
IEEE Transactions on Systems, Man, and Cybernetics Part C, 32(1),