Flock Identification using Connected Components Labeling for Multi-Robot Shepherding

Razali, Sazalinsyah and Shamsudin, Nurul Fathiyah and Osman, Mashanum and Meng, Qinggang and Yang, Shuang-Hua (2013) Flock Identification using Connected Components Labeling for Multi-Robot Shepherding. In: 5th International Conference of Soft Computing and Pattern Recognition (SoCPaR 2013), 15-18 Dec 2013, Hanoi, Vietnam.

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Shepherding is often used in robotics and applied to various domains such as military in Unmanned Aerial Vehicle (UAV) or Unmanned Ground Vehicle (UGV) combat scenarios, disaster rescue and even in manufacturing. Generally, robot shepherding refers to a task of a robot known as shepherd or sheep herder, who guards and takes care of flocks of sheep, to make sure that the flock is intact and protect them from predators. In order to make an accurate decision, the shepherd needs to identify the flock that needs to be managed. How does the shepherd can precisely identify a group of animals as a flock? How can one actually judge a flock of sheep, is a flock? How does the shepherd decide how to approach or to steer the flock? These are the questions that relates to flock identification. In this paper, a new method using connected components labeling is proposed to cater the problem of flock identification in multi-robot shepherding scenarios. The results shows that it is a feasible approach, and can be used when integrated with the Player/Stage robotics simulation platform.

Item Type: Conference or Workshop Item (Paper)
Additional Information: © 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Uncontrolled Keywords: flock identification; connected components labeling; image processing; multi-robot shepherding
Subjects: Q Science > Q Science (General)
Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Faculty of Information and Communication Technology > Department of Industrial Computing
Depositing User: Dr. Sazalinsyah Razali
Date Deposited: 30 Dec 2013 09:55
Last Modified: 28 May 2015 04:11
URI: http://eprints.utem.edu.my/id/eprint/10475
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