Fig. 1: Schematic illustration of the shepherding task.
From: Nonreciprocal field theory for decision-making in multi-agent control systems
a Initial random configuration of herders (dogs) and targets (sheep), with herders and targets randomly distributed in space and the goal region marked by a green star. b Final configuration showing successful containment of targets around the goal region (green star) by the coordinated action of the herders.
