We solve the formation-tracking control problem for mobile robots via linear control, under the assumption that each agent communicates only with one “leader” robot and with one follower. We assume that the system is forcecontrolled (hence we use the dynamic model) as opposed to velocity-controlled (in the kinematic-model case). As in the classical tracking control problem for nonholonomic syst...

The problem of consensus in the presence of misbehaving agents has increasingly attracted attention in the literature. Prior results have established algorithms and graph structures for multi-agent networks which guarantee the consensus of normally behaving agents in the presence of a bounded number of misbehaving agents. The final consensus value is guaranteed to fall within the convex hull of...

The paper considers the problem of driving a formation of autonomous mobile agents. The group of mobile devices is represented by a leader-follower network, where the followers update their position using a simple local consensus procedure, while the leaders, whose positions represent the control inputs of the network, are free to move. We characterize the transient behavior of the network, and...

The literatures on both authentic leadership and behavioral integrity have argued that leader integrity drives follower performance. Yet, despite overlap in conceptualization and mechanisms, no research has investigated how authentic leadership and behavioral integrity relate to one another in driving follower performance. In this study, we propose and test the notion that authentic leadership ...

The leader-follower phenomenon is natural for many mobile objects acting collectively. It is possible to find the leader of such collective motion from trajectory data and use it to understand the motion pattern of the group. This work proposes a technique for detecting leader-follower relationships from trajectories of mobile objects, and represents them as a graph sequence. We apply this meth...

We consider the following location problem. New 5G networks are deployed by two competitive operators (called resp. O1 and O2), which we refer to as a leader and a follower due to their sequential entering the market. They compete to serve clients by installing and configuring base stations (BS). We assume that the leader had already made a decision and operating a 5G network. Follower arrives ...

This paper is devoted to the study of consensus tracking problems for multi-agent systems with nonlinear dynamics, in which dynamics of each follower consists of two terms: one is given by an inherent nonlinear dynamics and the other is a simple communication protocol relying only on the position of its neighbors. The consensus reference is taken as a virtual leader who gives only its position ...

In many species, particular individuals consistently lead group travel. While benefits to followers often are relatively obvious, including access to resources, benefits to leaders are often less obvious. This is especially true for species that feed on patchy mobile resources where all group members may locate prey simultaneously and food intake likely decreases with increasing group size. Lea...

Abstract. We solve the formation-tracking control problem for mobile robots via linear control, under the assumption that each agent communicates only with one “leader” robot and with one follower. As in the classical tracking control problem for nonholonomic systems, the swarm is driven by a fictitious robot which moves about freely and which is leader to one robot only. For a spanning-tree to...

This paper considers the leader-follower control problem for a linear multi-agent system with undirected topology and linear coupling subject to integral quadratic constraints (IQCs). A consensus-type control protocol is proposed based on each agent’s states relative its neighbors. In addition a selected set of agents uses for control their states relative the leader. Using a coordinate transfo...