• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.7
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• pp.1032-1040
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• 2012

This paper proposes controller of leader robot considering following robot with input constraints based on leader-following approach. In the previous formation control researches, it was assumed that leader and follower is same object. If leader robot drives as maximum speed that the initial position errors still remain even if following robot have same velocity as a leader. In the situation that velocity of following robot is lower than its leader robot, following robot cannot follow leader robot. Furthermore, the following robot will not be able to made formation with leader robot and keep proximity communication or sensing range. Therefore, multiple mobile robot system using leader-following method should be guaranteed range to get information each other. In this paper, Leader robot is driving to goal position using linear controller and following robot is following trajectory to be made from leader robot. We assume that following robot has input constraints to realize different performance between leader robot and following robot. We design controller of leader robot for desired goal position including the errors between formation and following robot. Thus, we propose leader robot controller considering input constraints of following robot. Finally, we were able to confirm the validity of the proposed method based on simulation results.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.36 no.9
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• pp.859-866
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• 2008

A guidance scheme for controlling the relative geometry of multiple flight vehicle formation flying is proposed. Each flight vehicle in the formation takes the roles of leader and follower simultaneously except for the formation leader. In this scheme, the flight commands for a leader are shared by all the followers and this leaders to a synchronized flight of all flight vehicles comprising the formation. Lyapunov stability theorem is used to obtain the guidance law. High fidelity nonlinear simulation results are presented to show the effectiveness of the proposed guidance law using a reconnaissance and surveillance mission example.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1886-1887
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• 2011

본 논문은 군집 로봇 포메이션 이동 제어를 위한 방법을 제안한다. Potential field method 알고리즘을 이용하여 Leader-Bot의 장애물 회피와 이동 경로를 계획한다. Leader-bot을 기준으로 하는 Follewer-bot의 포메이션 형성을 위해 Formation generated function을 사용한다. Leader-bot과 Follower-bot들 간에 충돌회피와 Follower-bot들의 장애물 회피를 위해 Potential function을 적용한다. 제안한 방법은 시뮬레이션을 통하여 실제 운용 가능성을 검증한다.

• Journal of Digital Convergence
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• v.17 no.6
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• pp.105-112
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• 2019

In addition to the recent business field, the importance of leadership in universities is becoming an increasingly important issue. Purpose of our study is to recommend the significance of authentic leadership by analyzing the effect of leader 's authentic leadership on follower' s project work climate and project performance. As a result of the previous studies that authentic leadership among university students as a quasi-social worker mitigates the role of leader and the tension between the members in the team, this study tries to examine the moderation effect of work climate on the relationship between the follower's authentic leadership and project performance. Therefore, a survey was conducted for students enrolled in some universities. A total of 175 questionnaires were used for the structural equation using STATA 14.0. The results of this study is summarized in three points. Our finding is as follow. The authentic leadership of the leader has a positive influence on the follower' s authentic leadership while the followers' authentic leadership had a positive effect on the project performance.

• Asia Marketing Journal
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• v.24 no.4
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• pp.178-189
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• 2023

As the necessity of customer relationship management (CRM) increases, measuring the performance of CRM have been actively discussed. Customer equity (CE) is regarded as an appropriate indicator for evaluating the outcomes of marketing activities. There are three drivers of CE: brand, value, and relationship equity. This study aims to investigate the impact of three drivers on customer satisfaction. Market competition is an environmental factor that affects the effectiveness of CRM. This study divides target firms into leaders and followers. This study found that the differential impact of CE drivers on customer satisfaction depends on the firm's status (leader or follower). Specifically, the brand equity driver significantly impacts the leader firm. However, the impacts of value and relationship equity drivers are bigger for follower firms. The above results suggest that firms need to build CRM strategies that consider the competitive situation of the market and their position.

• Journal of IKEEE
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• v.24 no.1
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• pp.275-283
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• 2020

A leader-follower robot system using low cost small mobile robots has been developed. Sine the developed mobile robot is made of widely used low cost parts, it can be built easily and fastly. Characteristics of the developed sensor array composed of seven low-cost infrared(IR) distance sensors has been investigated, and a positioning algorithm of the reader robot is proposed. Through a series of experiments, it has been verified that the proposed algorithm can detect the position of the reader robot well.

• Fashion & Textile Research Journal
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• v.10 no.2
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• pp.155-163
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• 2008

The college students selected by random sampling were classified into several groups by their cosmetic impulse buying pattern and the internal characteristics that cause them. Their shopping orientation, life styles, makeup self-confidence, makeup interest and self-image were the subjects of comparative analysis. The results of this research can be summarized as follows.; fashion leader was classified fashion dual leader, fashion opinion leader, fashion innovator and fashion follower. The fashion dual leader and fashion innovator were more impulse buying orientated. The fashion dual leader and fashion innovator were highly evaluated in intellectual self faithfulness and life decoration preference style. The fashion dual leader and fashion innovator attached great importance to leisure pursuit and name brand preferring shopping. They showed the tendencies to the makeup self-confidence and makeup interest. But the fashion follower showed quite different tendencies. The fashion dual leader and fashion innovator perceived themselves as varied life style. These internal characteristics were supposed to contribute to their impulse buying.

• International Journal of Aeronautical and Space Sciences
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• v.16 no.4
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• pp.581-589
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• 2015

This paper describes a monocular vision-based formation flight technology using two fixed wing unmanned aerial vehicles. To measuring relative position and attitude of a leader aircraft, a monocular camera installed in the front of the follower aircraft captures an image of the leader, and position and attitude are measured from the image using the KLT feature point tracker and POSIT algorithm. To verify the feasibility of this vision processing algorithm, a field test was performed using two light sports aircraft, and our experimental results show that the proposed monocular vision-based measurement algorithm is feasible. Performance verification for the proposed formation flight technology was carried out using the X-Plane flight simulator. The formation flight simulation system consists of two PCs playing the role of leader and follower. When the leader flies by the command of user, the follower aircraft tracks the leader by designed guidance and a PI control law, and all the information about leader was measured using monocular vision. This simulation shows that guidance using relative attitude information tracks the leader aircraft better than not using attitude information. This simulation shows absolute average errors for the relative position as follows: X-axis: 2.88 m, Y-axis: 2.09 m, and Z-axis: 0.44 m.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1829-1830
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• 2008

The paper deals with leader-follower formations of nonholonomic mobile robots using least square method in order to maintain the formation constantly. The nonholonomic property of the mobile robot cause us to use the least square method. Then, the performance of the developed formation controller is verified by simulation results.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.818-829
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• 2003

A cooperating control algorithm for two nonholonomic mobile robots is proposed. The task is composed of collision avoidance against obstacles and carrying a ladder. The front robot and the rear robot are called the leader and the follower, respectively. Each robot has a nonholonomic constraint so it cannot move in perpendicular directions. The environment is initially supposed to be unknown except target position. The torque that drives leader is determined by distance between the leader and the target position or the distance between it and the obstacles. The torque by target is attractive and the torque by obstacles is repulsive. The two mobile robots are supposed to be connected by link that can be expanded and contracted. The follower computes its torque using position and orientation information from the leader by communication. Simulation results show that the robots can drive to target position without colliding into the obstacles and maintain the distance in the allowable range.