  The simultaneous control of multiple coordinated robotic agents represents an
elaborate problem. If solved, however, the interaction between the agents can
lead to solutions to sophisticated problems. The concept of swarming, inspired
by nature, can be described as the emergence of complex system-level behaviors
from the interactions of relatively elementary agents. Due to the effectiveness
of solutions found in nature, bio-inspired swarming-based control techniques
are receiving a lot of attention in robotics. One method, known as swarm
shepherding, is founded on the sheep herding behavior exhibited by sheepdogs,
where a swarm of relatively simple agents are governed by a shepherd (or
shepherds) which is responsible for high-level guidance and planning. Many
studies have been conducted on shepherding as a control technique, ranging from
the replication of sheep herding via simulation, to the control of uninhabited
vehicles and robots for a variety of applications. We present a comprehensive
review of the literature on swarm shepherding to reveal the advantages and
potential of the approach to be applied to a plethora of robotic systems in the
future.
