Using a traditional leader-follower decisional sequence as the manifestation of power structure in a supply chain, this work generalizes extant research in IT security. We propose a game theoretic model to analyze the equilibrium IT security of the supply chain in the Stackelberg game, where the power structure in the supply chain manifests in a natural leader. Our results indicate that a natur...

This paper presents a formated navigation based on the leader-follower approach. In this approach, the control law of the follower robot includes the states of the leader robot. This is a drawback for implementing the control laws on real mobile robots. To overcome this drawback, this paper proposes a new follower’s control law, called the self-made follower input, in which the state of the lea...

The paper deals with leader-follower formations of nonholonomic mobile robots, introducing a formation control strategy alternative to those existing in the literature. Robots control inputs are forced to satisfy suitable constraints that restrict the set of leader possible paths and admissible positions of the follower with respect to the leader. A peculiar characteristic of the proposed strat...

Orientation: Whilst extensive literature is available on leadership, followership under-researched. This study, therefore, pays attention to specific follower behaviours that can influence the leadership process and are passive. Research purpose: study offers deeper insights into their process. Motivation for study: By extending original research in China of Carsten, Uhl-Bien Huang followership...

Extensions of a consensus algorithm are introduced for systems modelled by second-order dynamics. Variants of those consensus algorithms are applied to tackle formation control problems by appropriately choosing information states on which consensus is reached. Even in the absence of centralised leadership, the consensus-based formation control strategies can guarantee accurate formation mainte...

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 the leader-follower formation control for multiple quadrotors. Two controllers are used. The first one is a proportional derivative controller used to ensure the tracking of the leader to the desired trajectory, while the second is based on fuzzy logic in order to achieve the desired formation in ! − ! plane with equal height (!) for all follower quadrotors. In order to ensur...

This paper presents the management of UAV formation flight with respect to varying levels of communication among UAVs. Inter-vehicle communication in the formation is a critical issue because each UAV needs the information on other vehicles for formation. However, since communication is not perfect in reality, the formation performance under communication failure has to be analyzed. This study ...

The report deals with an introduction to the control aspect of platoon maneuvers in Automated Highway Systems. The different platoon maneuvers have been introduced. The first part of the report consists of a review of the existing literature in this area. The survey is split up into the quasi-synchronous and vehicle follower controller methods of approach to the problem. The subsequent sections...

In the exploration and implementation of formation control strategies, communication range and bandwidth limitations form a barrier to large scale formation control applications. The limitations of current formation control strategies involving a leader–follower approach and a consensus-based approach with fully available group trajectory information are explored. A unified, distributed formati...