Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely:   consider the problem of straight line path following for formations of underactuated underwater vehicles. The proposed decentralized controller makes the vehicles exponentially constitute a desired formation that follows a given straight line path with a given forward speed profile. This work builds on previous work for 2D motion of 3DOF underactuated surface vessels and extends the ideas of [2] to 3D motion of 5DOF underactuated underwater vehicles. Motivated by [2], simplifying assumptions from previous works on this subject are avoided and a complete stability analysis is provided. Graph theory is used to model the inter-vehicle communication, and the proposed coordination controller respects the topological constraints of the communication network.
['Even Børhaug', 'Alexey Pavlov', 'Kristin Ytterstad Pettersen']
I am writing a research paper on a idea Straight line path following for formations of underactuated underwater vehicles
[{"from": "human", "value": "I am writing a research paper on a idea Straight line path following for formations of underactuated underwater vehicles"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely:   consider the problem of straight line path following for formations of underactuated underwater vehicles. The proposed decentralized controller makes the vehicles exponentially constitute a desired formation that follows a given straight line path with a given forward speed profile. This work builds on previous work for 2D motion of 3DOF underactuated surface vessels and extends the ideas of [2] to 3D motion of 5DOF underactuated underwater vehicles. Motivated by [2], simplifying assumptions from previous works on this subject are avoided and a complete stability analysis is provided. Graph theory is used to model the inter-vehicle communication, and the proposed coordination controller respects the topological constraints of the communication network."}]