This paper deals with leader-follower formations of non-holonomic mobile robots, introducing a formation control strategy based on pixel counts using a commercial grade electro optics camera. Localization of the leader for motions along line of sight as well as the obliquely inclined directions are considered based on pixel variation of the images by referencing to two arbitrarily designated po...

The leader-follower facility location problem arises in the context of two non-cooperating companies, a leader and a follower, competing for market share from a given set of customers. In our work we assume that the firms place a given number of facilities on locations taken from a discrete set of possible points. The customers are assumed to split their demand inversely proportional to their d...

In a class of games known as Stackelberg games, one agent (the leader) must commit to a strategy that can be observed by the other agent (the adversary/follower) before the adversary chooses its own strategy. We consider Bayesian Stackelberg games, in which the leader is uncertain about the type of the adversary it may face. Such games are important in security domains, where, for example, a se...

An individual (the leader) with free access to information decides how much public evidence to collect. Conditional on this information, another individual with conflicting preferences (the follower) undertakes an action that affects the payoff of both players. In this game of incomplete but symmetric information, we characterize the rents obtained by the leader due to his control of the genera...

Quadrotors are gaining an increasing interest in public and extensively explored in recent years. In many situations, a team of quadrotors is desired to operate in a certain shape, which is also called formation. In this paper, a linear PID controller is used to control each single quadrotor and a slide mode controller is adopted to solve the formation flying problem which employs the leader-fo...

This paper is concerned with information structures used in rigid formations of autonomous agents that have leaderfollower architecture. The focus of this paper is on sensor/network topologies to secure control of rigidity. We extend our previous approach for formations with symmetric neighbor relations to include formations with leader-follower architecture. Necessary and sufficient conditions...

Flocking is the ability of a group of robots to follow a leader or head whenever it moves in the plane (two dimensional Cartesian space). In this paper we propose and prove correct an architecture for a self-organizing and stabilizing flocking system. Contrary to the existing work on this topic our flocking architecture do not relies on the existence of a specific leader a priori known to every...

We propose a control strategy based on distributed adaptive leader-follower consensus algorithms for multiagent systems (MAS) affected by switching network events. The strategy allows each agent in the MAS to compute its own control input based on local information and information coming from its neighbors. In this sense, MAS distributed control laws are obtained where the coupling gain of the ...

In this paper we focus on solving a path following problem and keeping a geometrical formation. The problem of formation control is divided into a leader agent subproblem and a follower agent subproblem such that a leader agent follows a given path, while each follower agent tracks a trajectory, estimated by using the leader’s information. In this paper, we exploit nonlinear model predictive co...

The objective of the current work was to test ergonomic interventions aimed at reducing the magnitude of trunk muscle exertions in firefighters/paramedics (FFPs) providing emergency medical services (EMS) when transporting patients down the stairs. The interventions, developed using focus groups, were a footstrap to prevent the patient from sliding down on the backboard, a change in the handle ...