Biologically Inspired Effectiveness Measures for Shepherding-Based guidance Systems

Kate J. Yaxley, Keith F. Joiner, Hussein A. Abbass, School of Engineering and Technology, University of New South Wales, Capability Systems Centre, University of New South Wales, School of Systems and Computing, University of New South Wales

Adaptive Behavior: Animals, Animats, Software Agents, Robots, Adaptive Systems

Published online on September 30, 2025

Abstract

Adaptive Behavior, Volume 34, Issue 2, Page 95-113, April 2026.
We present quantitative metrics to assess the effectiveness of shepherding-based human-swarm guidance. Our swarm is flocks of sheep. Our human-swarm teaming arrangement contrasts a sheepdog and a human shepherd trained using traditional methods, and a ...