{"id":"https://openalex.org/W2769558701","doi":"https://doi.org/10.3390/s17122729","title":"Autonomous Shepherding Behaviors of Multiple Target Steering Robots","display_name":"Autonomous Shepherding Behaviors of Multiple Target Steering Robots","publication_year":2017,"publication_date":"2017-11-25","ids":{"openalex":"https://openalex.org/W2769558701","doi":"https://doi.org/10.3390/s17122729","mag":"2769558701","pmid":"https://pubmed.ncbi.nlm.nih.gov/29186836"},"language":"en","primary_location":{"id":"doi:10.3390/s17122729","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s17122729","pdf_url":"https://www.mdpi.com/1424-8220/17/12/2729/pdf?version=1511604092","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/17/12/2729/pdf?version=1511604092","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101404018","display_name":"Wonki Lee","orcid":"https://orcid.org/0000-0003-3108-4983"},"institutions":[{"id":"https://openalex.org/I193775966","display_name":"Yonsei University","ror":"https://ror.org/01wjejq96","country_code":"KR","type":"education","lineage":["https://openalex.org/I193775966"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Wonki Lee","raw_affiliation_strings":["Biological Cybernetics Lab, School of Electrical and Electronic Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 120-749, Korea","Biological Cybernetics Lab, School of Electrical and Electronic Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 120-749, Korea. wonkilee@yonsei.ac.kr"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biological Cybernetics Lab, School of Electrical and Electronic Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 120-749, Korea","institution_ids":["https://openalex.org/I193775966"]},{"raw_affiliation_string":"Biological Cybernetics Lab, School of Electrical and Electronic Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 120-749, Korea. wonkilee@yonsei.ac.kr","institution_ids":["https://openalex.org/I193775966"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073818070","display_name":"DaeEun Kim","orcid":"https://orcid.org/0000-0003-0863-1694"},"institutions":[{"id":"https://openalex.org/I193775966","display_name":"Yonsei University","ror":"https://ror.org/01wjejq96","country_code":"KR","type":"education","lineage":["https://openalex.org/I193775966"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"DaeEun Kim","raw_affiliation_strings":["Biological Cybernetics Lab, School of Electrical and Electronic Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 120-749, Korea","Biological Cybernetics Lab, School of Electrical and Electronic Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 120-749, Korea. daeeun@yonsei.ac.kr"],"raw_orcid":"https://orcid.org/0000-0003-0863-1694","affiliations":[{"raw_affiliation_string":"Biological Cybernetics Lab, School of Electrical and Electronic Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 120-749, Korea","institution_ids":["https://openalex.org/I193775966"]},{"raw_affiliation_string":"Biological Cybernetics Lab, School of Electrical and Electronic Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 120-749, Korea. daeeun@yonsei.ac.kr","institution_ids":["https://openalex.org/I193775966"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5073818070"],"corresponding_institution_ids":["https://openalex.org/I193775966"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":6.5857,"has_fulltext":false,"cited_by_count":69,"citation_normalized_percentile":{"value":0.97069597,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"17","issue":"12","first_page":"2729","last_page":"2729"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987000226974487,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/robot","display_name":"Robot","score":0.6418938040733337},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5000827312469482},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47193095088005066},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33636724948883057},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2843087315559387}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6418938040733337},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5000827312469482},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47193095088005066},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33636724948883057},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2843087315559387}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s17122729","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s17122729","pdf_url":"https://www.mdpi.com/1424-8220/17/12/2729/pdf?version=1511604092","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:29186836","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/29186836","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:0163c98100c04aad9de9259592376031","is_oa":true,"landing_page_url":"https://doaj.org/article/0163c98100c04aad9de9259592376031","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 17, Iss 12, p 2729 (2017)","raw_type":"article"},{"id":"pmh:oai:pubmedcentral.nih.gov:5751650","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5751650","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s17122729","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s17122729","pdf_url":"https://www.mdpi.com/1424-8220/17/12/2729/pdf?version=1511604092","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.75,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G2339329005","display_name":null,"funder_award_id":"2014R1A2A1A11053839","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G3479232321","display_name":null,"funder_award_id":"2014R1A2A1A11053839","funder_id":"https://openalex.org/F4320316581","funder_display_name":"National Research Fund, Kenya"},{"id":"https://openalex.org/G4686453634","display_name":null,"funder_award_id":"2017R1A2B4011455","funder_id":"https://openalex.org/F4320316581","funder_display_name":"National Research Fund, Kenya"},{"id":"https://openalex.org/G59059548","display_name":null,"funder_award_id":"2017R1A2B4011455","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320316581","display_name":"National Research Fund, Kenya","ror":null},{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W150267902","https://openalex.org/W1536256265","https://openalex.org/W1572260348","https://openalex.org/W1917529523","https://openalex.org/W2001794029","https://openalex.org/W2015410655","https://openalex.org/W2026662445","https://openalex.org/W2044680442","https://openalex.org/W2066165676","https://openalex.org/W2083839338","https://openalex.org/W2099397914","https://openalex.org/W2105850748","https://openalex.org/W2112812942","https://openalex.org/W2117148399","https://openalex.org/W2121837035","https://openalex.org/W2133027656","https://openalex.org/W2134972977","https://openalex.org/W2144221681","https://openalex.org/W2159465607","https://openalex.org/W2165744313","https://openalex.org/W2170591991","https://openalex.org/W2249624503","https://openalex.org/W2337928246","https://openalex.org/W2522323414","https://openalex.org/W2564999662","https://openalex.org/W2570937239","https://openalex.org/W2587233709","https://openalex.org/W2595940996","https://openalex.org/W2605353781","https://openalex.org/W2610162929","https://openalex.org/W2618617629","https://openalex.org/W2739550253","https://openalex.org/W2745604050","https://openalex.org/W2751186183","https://openalex.org/W2767883876","https://openalex.org/W2769904221","https://openalex.org/W2786315941","https://openalex.org/W2996256129","https://openalex.org/W4231156366","https://openalex.org/W4234406933","https://openalex.org/W4236122330","https://openalex.org/W4242811155","https://openalex.org/W4390864777","https://openalex.org/W6606089373","https://openalex.org/W6682815447","https://openalex.org/W6684394150","https://openalex.org/W6697152052","https://openalex.org/W6703841629","https://openalex.org/W7034029160","https://openalex.org/W7062071732"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,27,32,36,47,58,80,87,101,193,200,227],"distributed":[4],"coordination":[5],"methodology":[6],"for":[7,31,90,196,221],"multi-robot":[8],"systems,":[9],"based":[10],"on":[11,164],"nearest-neighbor":[12],"interactions.":[13],"Among":[14],"many":[15],"interesting":[16],"tasks":[17],"that":[18,55,62,93,216,244],"may":[19],"be":[20],"performed":[21],"using":[22],"swarm":[23],"robots,":[24,213],"we":[25,51,85,191,214],"propose":[26,192],"biologically-inspired":[28],"control":[29,88,105,185,234],"law":[30],"shepherding":[33,223],"task,":[34],"whereby":[35,199],"group":[37,43],"of":[38,44,67,76,154,248,267],"external":[39],"agents":[40,45,139,143,179,230],"drives":[41],"another":[42],"to":[46,74,98,104,109,114,126,146,152,162,170,184,233,263],"desired":[48,172],"location.":[49,173],"First,":[50],"generated":[52],"sheep-like":[53],"robots":[54,92],"act":[56],"like":[57],"flock.":[59,116,156,237],"We":[60,117],"assume":[61],"each":[63,75,123,134,217],"agent":[64,124,159,169],"is":[65,255],"capable":[66],"measuring":[68],"the":[69,106,110,115,141,155,166,171,186,222,235,246,249,265],"relative":[70,113],"location":[71],"and":[72,100,144,225,251,260],"velocity":[73],"its":[77],"neighbors":[78],"within":[79],"limited":[81],"sensing":[82],"area.":[83],"Then,":[84],"designed":[86],"strategy":[89],"shepherd-like":[91],"have":[94],"information":[95],"regarding":[96],"where":[97],"go":[99],"steering":[102,142,158,178,229,252],"ability":[103],"flock,":[107],"according":[108],"robots'":[111],"position":[112],"define":[118],"several":[119],"independent":[120],"behavior":[121],"rules;":[122],"calculates":[125],"what":[127],"extent":[128],"it":[129],"will":[130],"move":[131],"by":[132],"summarizing":[133],"rule.":[135],"The":[136,238],"flocking":[137,168],"sheep":[138],"detect":[140],"try":[145],"avoid":[147],"them;":[148],"this":[149,268],"tendency":[150],"leads":[151],"movement":[153],"Each":[157],"only":[160,226],"needs":[161],"focus":[163],"guiding":[165],"nearest":[167],"Without":[174],"centralized":[175],"coordination,":[176],"multiple":[177,204,212],"produce":[180],"an":[181],"arc":[182],"formation":[183],"flock":[187,202,250],"effectively.":[188],"In":[189],"addition,":[190],"new":[194],"rule":[195],"collecting":[197],"behavior,":[198,224],"scattered":[201],"or":[203],"flocks":[205],"are":[206,231,240],"consolidated.":[207],"From":[208],"simulation":[209],"results":[210,239],"with":[211],"show":[215],"robot":[218],"performs":[219],"actions":[220],"few":[228],"needed":[232],"whole":[236],"displayed":[241],"in":[242],"maps":[243],"trace":[245],"paths":[247],"robots.":[253],"Performance":[254],"evaluated":[256],"via":[257],"time":[258],"cost":[259],"path":[261],"accuracy":[262],"demonstrate":[264],"effectiveness":[266],"approach.":[269]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":16},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":4}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
