@inproceedings{butler:virtualfence1, 
    author = {Zack Butler and Peter Corke and Ronald Peterson and Daniela Rus}, 
    title = {Virtual fences for Controlling Cows}, 
    booktitle = {Proceedings of the IEEE 2004 International Conference on
Robotics and Automation}, 
    year = {2004}, 
    month = {May}, 
    series = {Volume 4}, 
    publisher = {IEEE Computer Society Press}, 
    copyright = {IEEE}, 
    later = {butler:virtualfence1a}, 
    url = {http://cmc.cs.dartmouth.edu/papers/butler:virtualfence1.pdf}, 
    keyword = {adhoc network, cow, fence, wireless network}, 
    abstract = {We describe a moving virtual fence algorithm for herding cows.
Each animal in the herd is given a smart collar consisting of a GPS, PDA,
wireless networking and a sound amplifier. Using the GPS, the animal's
location can be verified relative to the fence boundary. When approaching the
perimeter, the animal is presented with a sound stimulus whose effect is to
move away. We have developed the virtual fence control algorithm for moving a
herd. We present simulation results and data from experiments with 8 cows
equipped with smart collars.}, 
}