From robots to animals : Virtual fences for controlling cattle
Data(s) |
01/05/2006
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Resumo |
We consider the problem of monitoring and controlling the position of herd animals, and view animals as networked agents with natural mobility but not strictly controllable. By exploiting knowledge of individual and herd behavior we would like to apply a vast body of theory in robotics and motion planning to achieving the constrained motion of a herd. In this paper we describe the concept of a virtual fence which applies a stimulus to an animal as a function of its pose with respect to the fenceline. Multiple fence lines can define a region, and the fences can be static or dynamic. The fence algorithm is implemented by a small position-aware computer device worn by the animal, which we refer to as a Smart Collar.We describe a herd-animal simulator, the Smart Collar hardware and algorithms for tracking and controlling animals as well as the results of on-farm experiments with up to ten Smart Collars. |
Identificador | |
Publicador |
SAGE Publications |
Relação |
DOI:10.1177/0278364906065375 Butler, Zack, Corke, Peter, Peterson, Ron, & Rus, Daniela (2006) From robots to animals : Virtual fences for controlling cattle. The International Journal of Robotics Research, 25(5/6), pp. 485-508. |
Direitos |
Copyright 2006 SAGE |
Fonte |
Faculty of Built Environment and Engineering; School of Engineering Systems |
Palavras-Chave | #090600 ELECTRICAL AND ELECTRONIC ENGINEERING #090602 Control Systems Robotics and Automation #animal modeling #animal control #distributed control #virtual fences |
Tipo |
Journal Article |