For vehicle platoons, the leader following control architecture is known to be capable of achieving string stability while maintaining tight formations. In this paper we study a variety of schemes where the leader state is available to the other members of the platoon. We show that in some cases it is possible to achieve string stability in the presence of certain amounts of time delay in the l...

When applying aggregating strategies to Prediction with Expert Advice, the learning rate must be adaptively tuned. The natural choice of √ complexity/current loss renders the analysis of Weighted Majority derivatives quite complicated. In particular, for arbitrary weights there have been no results proven so far. The analysis of the alternative “Follow the Perturbed Leader” (FPL) algorithm from...

In this paper a discrete-time sliding mode approach for the control of nonholonomic robots performing a leader following task is presented. The task can be seen as a service task for bringing robots to a working area. Our aim is to design, develop and test a new software and hardware framework for formation and coalition problems in a mobile multi robot scenario. Given a desired robot coalition...

Pedestrian following is a common behavior, and may provide a key link between individual locomotion and crowd dynamics. Here, we present a model for following that is motivated by cognitive science and grounded in empirical data. In Experiment 1, we collected data from leader-follower pairs, and showed that a simple speed-matching model is sufficient to account for behavior. In Experiment 2, we...

In this paper, the leader-following consensus problem of high order multi-agent systems with time-varying communication delays and noises is considered. The interconnection topology among the agents is assumed to be switching and undirected. The dynamics of each agent and the leader is a linear system. To track the active leader, a neighbor-based control of each following agent is designed in u...

Population protocols are networks of finite-state agents, interacting randomly, and updating their state using simple rules. Despite their extreme simplicity, these systems have been shown to cooperatively perform complex computational tasks, such as simulating register machines to compute standard arithmetic functions. The election of a unique leader agent is a key requirement in such computat...

We present a new approach to digital forensic evidence acquisition and disk imaging called sifting collectors that images only those regions of a disk with expected forensic value. Sifting collectors produce a sector-by-sector, bit-identical AFF v3 image of selected disk regions that can be mounted and is fully compatible with existing forensic tools and methods. In our test cases, they have ac...

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Tracked mobile robots in the 20 kg size class are under development for applications in urban reconnaissance. For efficient deployment, it is desirable for teams of robots to be able to automatically execute path following behaviors, with one or more followers tracking the path taken by a leader. The key challenges to enabling such a capability are (1) to develop sensor packages for such small ...

In this paper, a distributed output regulation problem is formulated for a class of uncertain nonlinear multi-agent systems subject to local disturbances. The formulation is given to study a leader-following problem when the leader contains unknown inputs and its dynamics is different from those of the followers. Based on the conventional output regulation assumptions and graph theory, distribu...