@inproceedings{butler:dynamicfence, 
    author = {Z. Butler and P. Corke and R. Peterson and D. Rus}, 
    title = {Dynamic Virtual fences for Controlling Cows}, 
    booktitle = {Proceedings of the Ninth International Symposium on Experimental
Robotics}, 
    year = {2004}, 
    month = {June}, 
    publisher = {Springer}, 
    copyright = {Springer}, 
    identical = {butler:dynamicfence2}, 
    url = {http://cmc.cs.dartmouth.edu/papers/butler:dynamicfence.pdf}, 
    keyword = {MANET, ad hoc network, mobile computing, fence, wireless network}, 
    abstract = {A virtual fence is created by applying an aversive stimulus to an
animal when it approaches a predefined boundary. It is implemented by a small
animalborne computer system with a GPS receiver. This approach allows the
implementation of virtual paddocks inside a normal physically fenced paddock.
Since the fence lines are virtual they can be moved by programming to meet
the needs of animal or land management. This approach enables us to consider
animals as agents with natural mobility that are controllable and to apply a
vast body of theory in motion planning. In this paper we describe a
herdanimal simulator and physical experiments conducted on a small herd of 10
animals using a Smart Collar. The Smart Collar consists of a GPS, PDA,
wireless networking and a sound amplifier. In particular we describe a motion
planning algorithm that can move a virtual paddock which is suitable for
mustering cows. We present simulation results and data from experiments with
8 cows equipped with Smart Collars.}
}