We consider the problem of having a team of nonholonomic mobile robots follow a desired leader-follower formation using omnidirectional vision. By specifying the desired formation in the image plane, we translate the control problem into a separate visual servoing task for each follower. We use a rank constraint on the omnidirectional optical flows across multiple frames to estimate the positio...

This paper studies output feedback consensus protocol design problems for linear multi-agent systems with directed graphs. We consider both leaderless and leader-follower consensus with a leader whose control input is nonzero and bounded. We propose a novel sequential observer design approach, which makes it possible to design fully distributed adaptive output feedback protocols that the existi...

Interpersonal coordination during joint action depends on the perception of the partner's movements. In many such situations - for example, while moving furniture together or dancing a tango - there are kinesthetic interactions between the partners due to the forces shared between them that allow them to directly perceive one another's movements. Joint action of this type often involves a contr...

Service robotics is a rapidly growing area of interest in robotics research. Service robots inhabit human-populated environments and carry out specific tasks. The goal of this dissertation is to develop a service robot capable of following a human leader around populated indoor environments. A classification system for person followers is proposed such that it clearly defines the expected inter...

This paper discusses the tracking coordination of a linear switched reluctance machine (LSRM) network based on a global feedback control strategy with a full-state observation framework. The observer is allocated on the follower instead of the leader to form a leader–follower–observer network, by utilizing the leader as the global feedback tracking controller and the observer as the observation...

This article explores the development of previous models to determine hubs in a competitive environment. In this paper, by comparing parameters of the ticket price, travel time and the service quality of hub airports, airline hubs are divided into six categories. The degree of importance of travel time and travel cost are determined by a multivariate Lagrange interpolation method, which can pla...