Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: Coordination of autonomous non-point agents in four-way crossings is studied in this work. A control scheme based on artificial potential functions is proposed in order to coordinate holonomic agents whose aim is to pass through an intersection while avoiding collisions. To do so, the agents are provided with a decentralized navigation function in which the goal and collision functions are decoupled. The local function defined on each agent requires no global knowledge on the desired destination of other agents. Furthermore, a reachability analysis via Lyapunov functions is proposed in order to guarantee marginal stability in our case study. In addition, conflict-free navigation and convergence properties are verified in simulation.
['Hajir Roozbehani', 'Sylvain Rudaz', 'Denis Gillet']
I am writing a research paper on a idea On decentralized navigation schemes for coordination of multi-agent dynamical systems
[{"from": "human", "value": "I am writing a research paper on a idea On decentralized navigation schemes for coordination of multi-agent dynamical systems"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: Coordination of autonomous non-point agents in four-way crossings is studied in this work. A control scheme based on artificial potential functions is proposed in order to coordinate holonomic agents whose aim is to pass through an intersection while avoiding collisions. To do so, the agents are provided with a decentralized navigation function in which the goal and collision functions are decoupled. The local function defined on each agent requires no global knowledge on the desired destination of other agents. Furthermore, a reachability analysis via Lyapunov functions is proposed in order to guarantee marginal stability in our case study. In addition, conflict-free navigation and convergence properties are verified in simulation."}]