This paper proposes trajectory planning strategies for reconfiguration of a multi-agent formation on a Lissajous curve. In our earlier work (Borkar et al., 2016), a multi-agent formation with constant parametric speed was proposed in order to address multiple objectives such as repeated collision-free surveillance and guaranteed sensor coverage of the area with ability for rogue target detection and trapping. Here we address formation reconfiguration within this framework. Smooth parametric trajectories are designed for this purpose using calculus of variations. These are employed in conjunction with a local cooperation scheme to achieve collision-free reconfiguration between different Lissajous curves. A detailed theoretical analysis is provided. The claims are validated through simulations in MATLAB^Ⓡfor agents performing parametric motion along the curves, by Software-In-The-Loop simulation for quadrotors, and also experimentally with a team of quadrotors flying in a motion capture environment.

本文提出了一种轨迹规划策略，用于重构李萨如曲线上的多主体地层。在我们的早期工作中（Borkar et al。，2016），提出了一种具有恒定参数速度的多智能体编队，以解决多个目标，例如重复无冲突监视和保证具有恶意目标检测能力的区域传感器覆盖和诱捕。在这里，我们讨论在此框架内的编队重配置。为此，使用变化演算来设计平滑的参数轨迹。这些与局部协作方案结合使用，以实现不同Lissajous曲线之间的无冲突重新配置。提供了详细的理论分析。声明通过MATLAB中的仿真进行了验证^Ⓡ通过四环转子的软件在环仿真，以及通过实验在运动捕捉环境中飞行的四环转子团队，针对沿曲线执行参数运动的特工。