  This work focuses on the formation reshaping in an optimized manner in
autonomous swarm of drones. Here, the two main problems are: 1) how to break
and reshape the initial formation in an optimal manner, and 2) how to do such
reformation while minimizing the overall deviation of the drones and the
overall time, i.e., without slowing down. To address the first problem, we
introduce a set of routines for the drones/agents to follow while reshaping to
a secondary formation shape. And the second problem is resolved by utilizing
the temperature function reduction technique, originally used in the point set
registration process. The goal is to be able to dynamically reform the shape of
multi-agent based swarm in near-optimal manner while going through narrow
openings between, for instance obstacles, and then bringing the agents back to
their original shape after passing through the narrow passage using point set
registration technique.
