788.11J Presentation “Herding Cows with Sensors” Presented by Ryan Boder.
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Transcript of 788.11J Presentation “Herding Cows with Sensors” Presented by Ryan Boder.
![Page 1: 788.11J Presentation “Herding Cows with Sensors” Presented by Ryan Boder.](https://reader036.fdocuments.in/reader036/viewer/2022083009/5697bfa01a28abf838c954f4/html5/thumbnails/1.jpg)
788.11J Presentation“Herding Cows with Sensors”
Presented by Ryan Boder
![Page 2: 788.11J Presentation “Herding Cows with Sensors” Presented by Ryan Boder.](https://reader036.fdocuments.in/reader036/viewer/2022083009/5697bfa01a28abf838c954f4/html5/thumbnails/2.jpg)
The Main Idea
• Herd cattle from one place to another using mobile virtual fences similar to those used to keep domestic pets in a yard.
• Use robot path planning theory to guide the virtual paddocks
![Page 3: 788.11J Presentation “Herding Cows with Sensors” Presented by Ryan Boder.](https://reader036.fdocuments.in/reader036/viewer/2022083009/5697bfa01a28abf838c954f4/html5/thumbnails/3.jpg)
The Main Achievements
•Developed path planning algorithm that was effective in simulation, but not on real cows
•The main contribution was a method for path planning an area (paddock) with moving walls as opposed to a a single point such as a robot
•Optimized the computationally intensive path search so that it could be performed easily on a PDA
![Page 4: 788.11J Presentation “Herding Cows with Sensors” Presented by Ryan Boder.](https://reader036.fdocuments.in/reader036/viewer/2022083009/5697bfa01a28abf838c954f4/html5/thumbnails/4.jpg)
The Challenges
• Animal state is only partially observable
•No direct control over animals actions
•Connectivity to base station from far away
•Cows didn't respond to sounds
•Many dimensions in path planning for a dynamic polygon
![Page 5: 788.11J Presentation “Herding Cows with Sensors” Presented by Ryan Boder.](https://reader036.fdocuments.in/reader036/viewer/2022083009/5697bfa01a28abf838c954f4/html5/thumbnails/5.jpg)
Pictures
![Page 6: 788.11J Presentation “Herding Cows with Sensors” Presented by Ryan Boder.](https://reader036.fdocuments.in/reader036/viewer/2022083009/5697bfa01a28abf838c954f4/html5/thumbnails/6.jpg)
Innovation
• An example of a sensor application that performs actuation, not just data collection
•Provides an alternative to using a border collie or robot herder
•If successful would give farmers much better control over herds than they have today