One simple way that I can think of for removing small pests such as these, would be to lay down a little bit of food around each of the area's where they are pestering you. Check back in a couple hours, and they should be collected there, they the process is simple. Another method would be to bring or attract a predator in that area to the Caterpillar. One of the main predator's for these pests are the Trichogramma Wasps. You can order egg's for these creatures at : http://funadvice.com/r/bjbvu4124. This website also has some other useful information about caterpillars.
Hope this Helped you. Message me if It Did :).
You can pick them up by hand may take awhile, you could destroy there nests and eggs, Birds frogs lizards and wasps eat caterpillers so if you can find a way to attract those they can help rid your caterpiller problem, BUT that also introduces other animals you may not want in your yard.
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Happy to Help Sir :).