@article{butler:virtualfence1a, 
    author = {Zack Butler and Peter Corke and Ron Peterson and Daniela Rus}, 
    title = {From Robots to Animals: Virtual Fences for Controlling Cattle}, 
    journal = {International Journal of Robotics Research}, 
    year = {2006}, 
    month = {May/June}, 
    volume = {25}, 
    number = {5/6}, 
    pages = {485--508}, 
    publisher = {Sage Publications}, 
    copyright = {Sage Publications}, 
    note = {Special Issue of ISER 2004 papers.}, 
    earlier = {butler:virtualfence1}, 
    url = {http://www.ijrr.org/contents/25_05/abstract/485.html}, 
    abstract = {We consider the problem of monitoring and controlling the
position of herd animals, and view animals as networked agents with natural
mobility but not strictly controllable. By exploiting knowledge of individual
and herd behavior we would like to apply a vast body of theory in robotics
and motion planning to achieving the constrained motion of a herd. In this
paper we describe the concept of a virtual fence which applies a stimulus to
an animal as a function of its pose with respect to the fenceline. Multiple
fence lines can define a region, and the fences can be static or dynamic. The
fence algorithm is implemented by a small position-aware computer device worn
by the animal, which we refer to as a Smart Collar. We describe a herd-animal
simulator, the Smart Collar hardware and algorithms for tracking and
controlling animals as well as the results of on-farm experiments with up to
ten Smart Collars.}, 
}