{"id":"https://openalex.org/W2781079832","doi":"https://doi.org/10.1109/tro.2017.2776308","title":"Controlling Noncooperative Herds with Robotic Herders","display_name":"Controlling Noncooperative Herds with Robotic Herders","publication_year":2017,"publication_date":"2017-12-22","ids":{"openalex":"https://openalex.org/W2781079832","doi":"https://doi.org/10.1109/tro.2017.2776308","mag":"2781079832"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2017.2776308","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2017.2776308","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035836760","display_name":"Alyssa Pierson","orcid":"https://orcid.org/0000-0002-4885-9119"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alyssa Pierson","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-4885-9119","affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081950488","display_name":"Mac Schwager","orcid":"https://orcid.org/0000-0002-7871-3663"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mac Schwager","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-7871-3663","affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.5614,"has_fulltext":false,"cited_by_count":99,"citation_normalized_percentile":{"value":0.93186386,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"34","issue":"2","first_page":"517","last_page":"525"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.7603728771209717},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.7164062261581421},{"id":"https://openalex.org/keywords/herd","display_name":"Herd","score":0.6046041250228882},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5528758764266968},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5526694059371948},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5402382016181946},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3982105851173401},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3398250639438629},{"id":"https://openalex.org/keywords/economics","display_name":"Economics","score":0.1286158263683319},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.11232343316078186},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.0835050642490387}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.7603728771209717},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.7164062261581421},{"id":"https://openalex.org/C194775826","wikidata":"https://www.wikidata.org/wiki/Q209542","display_name":"Herd","level":2,"score":0.6046041250228882},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5528758764266968},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5526694059371948},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5402382016181946},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3982105851173401},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3398250639438629},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.1286158263683319},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.11232343316078186},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0835050642490387},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2017.2776308","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2017.2776308","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4812739099","display_name":null,"funder_award_id":"N00014-12-1000","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W613360614","https://openalex.org/W1493007304","https://openalex.org/W1493175923","https://openalex.org/W1564897360","https://openalex.org/W1572260348","https://openalex.org/W1972990882","https://openalex.org/W2039313558","https://openalex.org/W2056371542","https://openalex.org/W2060203271","https://openalex.org/W2078143816","https://openalex.org/W2099397914","https://openalex.org/W2100905908","https://openalex.org/W2105850748","https://openalex.org/W2106696496","https://openalex.org/W2119899283","https://openalex.org/W2127795189","https://openalex.org/W2128928412","https://openalex.org/W2132916055","https://openalex.org/W2133661758","https://openalex.org/W2134772743","https://openalex.org/W2136644326","https://openalex.org/W2137398984","https://openalex.org/W2150312211","https://openalex.org/W2155540178","https://openalex.org/W2159465607","https://openalex.org/W2563402321","https://openalex.org/W2593898906","https://openalex.org/W2647604725","https://openalex.org/W4234406933","https://openalex.org/W4243808798","https://openalex.org/W6675242840","https://openalex.org/W6682815447","https://openalex.org/W6683427848","https://openalex.org/W6734369595","https://openalex.org/W6739877118"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2032198329","https://openalex.org/W1874066705","https://openalex.org/W1021426334","https://openalex.org/W2323165849","https://openalex.org/W2123897685","https://openalex.org/W2020829486","https://openalex.org/W2122871747","https://openalex.org/W2016451691","https://openalex.org/W3114279067"],"abstract_inverted_index":{"We":[0,30],"present":[1],"control":[2],"strategies":[3,41],"for":[4,42],"robotic":[5],"herders":[6],"to":[7,22,36],"drive":[8],"noncooperative":[9],"herds.":[10],"Our":[11],"key":[12],"insight":[13],"enforces":[14],"geometrical":[15],"relationships":[16],"that":[17],"map":[18],"the":[19],"combined":[20],"dynamics":[21],"simple":[23],"two-dimensional":[24],"or":[25],"three-dimensional":[26],"nonholonomic":[27],"vehicle":[28],"models.":[29],"prove":[31],"convergence":[32],"of":[33],"single-agent":[34],"herds":[35],"a":[37],"goal":[38],"and":[39,48],"propose":[40],"multi-agent":[43],"herds,":[44],"verified":[45],"in":[46],"simulations":[47],"experiments.":[49]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":19},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":2}],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}