Learning to Herd Amongst Obstacles from an Optimized Surrogate
Jixuan Zhi,Jyh-Ming Lien,Jixuan Zhi,Jyh-Ming Lien
This paper investigates how a shepherd robot can efficiently steer a coherent group by intelligently moving behind the group in obstacle-filled environments. It was been shown that a model trained by deep reinforcement learning can guide a small number (2–4) of agents among obstacles. However, herding a larger group becomes significantly more challenging because it exhibits the characteristics sim...
