A herding dog and sheep problem is studied where the agent “dog” is considered the control action for moving the agent “sheep” to a fixed location using the dynamics of their interaction. The problem is solved for the deterministic case using dynamic programming. Proofs are provided for the correctness of the algorithms. The algorithm is analyzed for its complexity. A software package developed for experimentation is described.
Shedied, S. A.,
Bay, J. S.,
Dynamic programming solution for a class of pursuit evasion problems: The herding problem.
IEEE Transactions on Systems, Man, and Cybernetics Part C, 31(1),