Abstract:This paper proposes trajectory planning strategies for online reconfiguration of a multi-agent formation on a Lissajous curve. In our earlier work [2], 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. This work addresses the issue of formation reconfiguration within this context. In particular, smooth parametric … Show more
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