In this paper, a two-stage reconfiguration strategy is proposed for a group of agents to find their specially designated formation, which can be seen as a transition from the current states to the predefined formations. The specially designated formation occurs during the inter-task idle time in order to minimize the reconfiguration time. The basic specially designated formation is designed for dotted agents based on the optimal mapping relationships and current probabilities of the predefined formations. Then, the reconfiguration schemes are developed with the agents modeled as circles or ellipses to account for their physical shapes, and the problem of agent overlapping during the formation is addressed. Examples and simulation results are presented to analyze and demonstrate the effectiveness and potential of the new design techniques.

中文翻译：

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环境变化多智能体系统编队控制新方法

在本文中，为一组智能体提出了一种两阶段重构策略，以找到他们特别指定的编队，这可以看作是从当前状态到预定义编队的过渡。特别指定的编队发生在任务间空闲时间期间，以最小化重新配置时间。基本专用编队是根据预定义编队的最佳映射关系和当前概率为点状代理设计的。然后，开发重构方案，将代理建模为圆形或椭圆形以说明其物理形状，并解决了在形成过程中代理重叠的问题。提供了示例和仿真结果，以分析和证明新设计技术的有效性和潜力。