Herd control methods and systems are described that can achieve great benefits over conventional methods when applied to animal and range management. The methods allow much greater animal density than is possible by other means of intensive grazing. A herd can be turned out in a large pasture or unfenced rangeland without dispersal. The herd constantly moves to find new forage and water without the negative consequences of uncontrolled grazing, and fencing can be reduced or eliminated. The methods use devices attached to some or all of a plurality of animals to replicate a herdsman rather than a fence. These herding devices are equipped with components for measuring the distance to neighboring devices. A stimulation component actuated by the processor applies a stimulus, such as a sound or an electric shock, if the animal is too far from the herd.
