The problem of coordinated control of a leader-follower system is solved using a virtual vehicle approach to alleviate information requirements on the leader. The virtual vehicle stabilizes to a shifted reference position/heading defined by the leader, and provides a reference velocity for the synchronization control law of the follower. Only position/heading measurements are available from the...

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...

In this paper, we study the consensus output tracking control for multi-agent systems with high-order dynamics under directed communication topology. Time-varying reference is assumed to be available to a subgroup of a team. A leader-follower scheme is applied and robust consensus control is developed so that the reference is treated as disturbances to those agents with no access to the referen...

We investigate the solvability of the reverse Stackelberg game. Here, a leader player acts first by presenting a leader function that maps the follower decision space into the leader decision space. Subsequently, the follower acts by determining his optimal decision variable. Such a game setting can be adopted within a multi-level optimization approach for large-scale control problems like road...

* This work is partially supported by NSFC Grant #61340041 and 61374079 and The Project-sponsored by SRF for ROCS, SEM to Yunzhong Song. Abstract: In order to explore the rendezvous problems of leader-follower multi-agent system further, three different kinds of strategies, namely the democracy strategy, the autarchy strategy as well as the mixed strategy, which were inspired by the mankind sys...

We consider the problem of distributed leader-follower formation control for nonholonomic mobile robots equipped with paracatadioptric cameras. Our approach is to translate the formation control problem from the configuration space into a separate visual servoing task for each follower. First, we present an algorithm for infinitesimal multi-body motion segmentation from multiple paracatadioptri...

Providing transparent replication of servers has been a major goal in the fault tolerance community. Transparent replication is particularly challenging for highly nondeterministic applications, such as the ones that use multithreading. For such applications, keeping replicas in a consistent state becomes non-trivial. One way to deal with the non-determinism is to use a leader/follower approach...

Cooperative control of a mobile robot with multiple communication sources is investigated. In the leader -follower framework, the robot is assumed as a follower and it follows the instructions of the leader. However, the communication sources are not only the leader but a lso its other associate following the leader. In this setup, the computation at the mobile robot need to churn the data it r...

In previous work, our results suggested that some cities tend to be ahead of others in their musical preferences. We concluded that work by noting that to properly test this claim, we would try to exploit the leader-follower relationships that we identified to make predictions. Here we present the results of our predictive evaluation. We find that information on the past musical preferences in ...

The observability of the leader robot system and the leader-follower formation control are studied. First, the nonlinear observability is studied for when the leader robot observes landmarks. Second, the system is shown to be completely observable when the leader robot observes two different landmarks. When the leader robot system is observable, multi-robots can rapidly form and maintain a form...