  Swarm guidance addresses a challenging problem considering the navigation and
control of a group of passive agents. To solve this problem, shepherding offers
a bio-inspired technique of navigating such group of agents by using external
steering agents with appropriately designed movement law. Although most
shepherding researches are mainly based on the availability of centralized
instructions, these assumptions are not realistic enough to solve some emerging
application problems. Therefore, this paper presents a decentralized
shepherding method where each steering agent makes movements based on its own
observation without any inter-agent communication. Our numerical simulations
confirm the effectiveness of the proposed method by showing its high success
rate and low costs in various placement patterns. These advantages particularly
improve with the increase in the number of steering agents.
