We present a range-based solution for indoor relative localization by Micro Air Vehicles (MAVs), achieving sufficient accuracy for leader-follower flight. Moving forward from previous work, we removed the dependency on a common heading measurement by the MAVs, making the relative localization accuracy independent of magnetometer readings. We found that this restricts the relative maneuvers that guarantee observability, and also that higher accuracy range measurements are required to rectify the missing heading information, yet both disadvantages can be tackled. Our implementation uses Ultra Wide Band, for both range measurements between MAVs and sharing their velocities, accelerations, yaw rates, and height with each other. We used this on real MAVs and performed leader-follower flight in an indoor environment. The follower MAVs could follow the leader MAV in close proximity for the entire durations of the flights. The followers were autonomous and used only on-board sensors to track and follow the leader.

Steven van der Helm Kimberly N. McGuire Mario Coppola Guido C. H. E. de Croon

We show that the recent claim that the expression 1/2 \int x dx [ H_q (x,0,0) + E_q(x,0,0)], involving the generalized parton distributions H and E, measures the transverse angular momentum of quarks in a transversely polarized nucleon, is incorrect.

Elliot Leader Cédric Lorcé

We present an algorithm for computing the set of all coset leaders of a binary code $\mathcal C \subset \mathbb{F}_2^n$. The method is adapted from some of the techniques related to the computation of Gr\"obner representations associated with codes. The algorithm provides a Gr\"obner representation of the binary code and the set of coset leaders $\mathrm{CL}(\mathcal C)$. Its efficiency stands of the fact that its complexity is linear on the number of elements of $\mathrm{CL}(\mathcal C)$, which is smaller than exhaustive search in $\mathbb{F}_2^n$.

M. Borges-Quintana M. A. Borges-Trenard E. Martinez-Moro

Lin and Liu evaluate the nucleon expectation value of the non gauge-invariant canonical quark momentum operator on a lattice, and obtain zero. They conclude that my argument that, despite the non gauge-invariance of the operator, its physical matrix elements \emph{are} gauge-invariant, cannot be correct. I show that their result has no bearing on the question of gauge-invariance, and also point to an amusing lattice paradox.

Elliot Leader

By introducing a predictive mechanism with small-world connections, we propose a new motion protocol for self-driven flocks. The small-world connections are implemented by randomly adding long-range interactions from the leader to a few distant agents, namely pseudo-leaders. The leader can directly affect the pseudo-leaders, thereby influencing all the other agents through them efficiently. Moreover, these pseudo-leaders are able to predict the leader's motion several steps ahead and use this information in decision making towards coherent flocking with more stable formation. It is shown that drastic improvement can be achieved in terms of both the consensus performance and the communication cost. From the industrial engineering point of view, the current protocol allows for a significant improvement in the cohesion and rigidity of the formation at a fairly low cost of adding a few long-range links embedded with predictive capabilities. Significantly, this work uncovers an important feature of flocks that predictive capability and long-range links can compensate for the insufficiency of each other. These conclusions are valid for both the attractive/repulsive swarm model and the Vicsek model.

Hai-Tao Zhang Michael Z. Q. Chen Tao Zhou

We extract the pion fragmentation functions and their uncertainties from a judicious choice of e+e- and semi-inclusive DIS data. These are used to study the error propagation in the extraction of polarized parton densities from semi-inclusive DIS asymmetries. We conclude that the uncertainties on polarized PDs have been underestimated in the past.

S. Kretzer E. Leader E. Christova

We consider local leaders in random uncorrelated networks, i.e. nodes whose degree is higher or equal than the degree of all of their neighbors. An analytical expression is found for the probability of a node of degree $k$ to be a local leader. This quantity is shown to exhibit a transition from a situation where high degree nodes are local leaders to a situation where they are not when the tail of the degree distribution behaves like the power-law $\sim k^{-\gamma_c}$ with $\gamma_c=3$. Theoretical results are verified by computer simulations and the importance of finite-size effects is discussed.

V. D. Blondel J. -L. Guillaume J. M. Hendrickx C. de Kerchove R. Lambiotte

We study a neuro-inspired model that mimics a discussion (or information dissemination) process in a network of agents. During their interaction, agents redistribute activity and network weights, resulting in emergence of leader(s). The model is able to reproduce the basic scenarios of leadership known in nature and society: laissez-faire (irregular activity, weak leadership, sizable inter-follower interaction, autonomous sub-leaders); participative or democratic (strong leadership, but with feedback from followers); and autocratic (no feedback, one-way influence). Several pertinent aspects of these scenarios are found as well---e.g., hidden leadership (a hidden clique of agents driving the official autocratic leader), and successive leadership (two leaders influence followers by turns). We study how these scenarios emerge from inter-agent dynamics and how they depend on behavior rules of agents---in particular, on their inertia against state changes.

Armen E. Allahverdyan Aram Galstyan

We study the mechanisms of frequency synchronized cluster formation in coupled non-identical oscillators and investigate the impact of presence of a leader on the cluster synchronization. We find that the introduction of a leader, node having large parameter mismatch, induces a profound change in the cluster pattern as well as in the mechanism of the cluster formation. The emergence of a leader generates a transition from the driven to the mixed cluster state. The frequency mismatch turns out to be responsible for this transition. Additionally, for a chaotic evolution, the driven mechanism stands as a primary mechanism for the cluster formation, whereas for a periodic evolution the self-organization mechanism becomes equally responsible.

Sarika Jalan Aradhana Singh Suman Acharya J. Kurths

A novel strategy aimed at cooperatively differentiating a signal among multiple interacting agents is introduced, where none of the agents needs to know which agent is the leader, i.e. the one producing the signal to be differentiated. Every agent communicates only a scalar variable to its neighbors; except for the leader, all agents execute the same algorithm. The proposed strategy can effectively obtain derivatives up to arbitrary $m$-th order in a finite time under the assumption that the $(m+1)$-th derivative is bounded. The strategy borrows some of its structure from the celebrated homogeneous robust exact differentiator by A. Levant, inheriting its exact differentiation capability and robustness to measurement noise. Hence, the proposed strategy can be said to perform robust exact distributed differentiation. In addition, and for the first time in the distributed leader-observer literature, sampled-data communication and bounded measurement noise are considered, and corresponding steady-state worst-case accuracy bounds are derived. The effectiveness of the proposed strategy is verified numerically for second- and fourth-order systems, i.e., for estimating derivatives of up to first and third order, respectively.

Rodrigo Aldana-Lopez David Gomez-Gutierrez Elio Usai Hernan Haimovich