Abstract
The paper focuses on generating patterns using a single autonomous agent modeled as a unicycle with constant forward speed. The patterns are generated on a plane around multiple points of interest. We call these points as target points. For practical purposes, the target points can represent any buildings of interest, landmarks, etc which need to be monitored continuously. Extending on our previous work on single target, this paper proposes a switching strategy for switching from one target point to another around which the agent traces different patterns. This renders multitudes of different patterns which, along with their aesthetic values, find applications in continuous monitoring, surveillance and so on. The theoretical results obtained in the paper have been validated through simulation results.
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