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. A comprehensive review of the literature on swarm shepherding is presented in order to reveal the advantages and potential of the approach to be applied to a plethora of robotic systems in the future.

This paper presents a comprehensive overview of current deep-learning methods for automatic object classification of underwater sonar data for shoreline surveillance, concentrating mostly on the classification of vessels from passive sonar data and the identification of objects of interest from active sonar (such as minelike objects, human figures or debris of wrecked ships). Not only is the contribution of this work to provide a systematic description of the state of the art of this field, but also to identify five main ingredients in its current development: the application of deep-learning methods using convolutional layers alone; deep-learning methods that apply biologically inspired feature-extraction filters as a preprocessing step; classification of data from frequency and time–frequency analysis; methods using machine learning to extract features from original signals; and transfer learning methods. This paper also describes some of the most important datasets cited in the literature and discusses data-augmentation techniques. The latter are used for coping with the scarcity of annotated sonar datasets from real maritime missions.