15-494 Cognitive Robotics 2008 Final Project

Sheep Herding

Christopher Solidum


Goals Boundary Detection Manipulation Results Future Work




-          Successfully created an algorithm that detects the boundaries a convex shape and patrols around it.

-          Detects whether or not an orange easter egg is inside the boundary

-          Pushes the easter egg outside of the boundary



-          Patrol

-          Push

-          State Machine Setup



-          Patrol

-          Pushing

-          Demo