This paper investigates the leader–follower formation tracking control of underactuated surface vessels (USVs) with input saturation. Each vessel is subject to the uncertainties induced by model uncertainties and environmental disturbances. At first, an event-trigged extended state observer (ETESO) is used to recover the velocity, yaw rate and the uncertainties. Then, an estimator is used to estimate velocity of the leader. An event-trigged controller (ETC) is constructed based on the estimator, the observer and extra variables. Specifically, extra variables are used to solve the underactuated problem and input saturation. Stability analysis of control system is given to prove all signals are bounded. Simulations demonstrate that the ETESO can estimate accurately the uncertainties, the velocity and yaw rate; the ETC can largely reduce the action times of actuator.

This article critically examines Warren Bennis's understanding of leadership, with a particular focus on the overlooked aspect of followship. While Bennis's theories have greatly influenced the leadership discourse, their limited consideration of follower perspectives raises crucial concerns. By exploring the intersection of leadership and followship, this article uncovers the gaps in Bennis's approach and emphasizes the need for a more integrative understanding of leadership dynamics. Through a comprehensive analysis of existing literature, this article aims to contribute to a more nuanced and holistic viewpoint on leadership, highlighting the importance of follower perspectives in effectively sustaining leadership excellence.

Leader-follower autonomy (LFA) systems have so far only focused on vehicles following other vehicles. Though there have been several decades of research into this topic, there has not yet been any work on human-vehicle leader-follower systems. We present a system in which an autonomous vehicle — our ACTor 1 platform — can follow a human leader who controls the vehicle through gestures. We successfully developed a modular pipeline that uses artificial intelligence/deep learning to recognize hand-and-body gestures from a user in view of the vehicle’s camera and translate those gestures into physical action by the vehicle. We demonstrate our work using our ACTor 1 platform, a modified Polaris Gem 2 electric vehicle. This work has numerous applications, such as material transport in industrial contexts.