Whenever Thor goes from place to place magically a strange design appears in the ground under him. But in The Avengers, Thor & Loki went to Asgard. But no design appeared under them? Why didn't it happen?

up vote 14 down vote accepted

Because they used Tesseract/Space stone's powers:

Both rotate the handle of Tesseract case and teleported with blue light.

Also we already know biforst was not in working condition during the film events:

LOKI: Oh, you should thank me. With the Bifrost gone how much dark energy did the Allfather have to muster to conjure you here? Your precious Earth. - source

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    It would be helpful to add that normally, they use the Bifrost to "teleport", which is what adds the "design" (by whatever mechanism; wasn't it mentioned in the original Thor that it has something to do with targeting?). – Luaan Nov 15 at 16:23
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    If I remember correctly, they used the Tesseract because, at this point, the Bifrost was still out of action (it wasn't repaired until sometime shortly before the beginning of Thor: The Dark World), which I feel is worth mentioning for context. – anaximander Nov 15 at 16:28
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    Wow that means there is yet another plot hole in Ragnarok. Heimdall could have just used the blue cube to transport Thor off the garbage planet the whole time. Such lazy writing with no explanations. – Chloe Nov 15 at 20:21
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    @Chloe How would Heimdall have got to the vault? Hela had taken over the castle. – Azor Ahai Nov 15 at 20:36
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    @Chloe Thor was on Sakaar AFTER Hela took over. Heimdal would have had to break into the palace to steal the tesseract. And even then they used a device to harness the power in Avengers. There's no reason to believe he'd have access to that either. – Logarr Nov 15 at 20:36

Those "designs" you mentioned, are created when the "bifrost" or any bifrost related mechanism/tool is used for teleportation. The signature pattern is also noted when Thor arrives in Wakanda using the teleportation power of StormBreaker.

In the instance in question, they used the space stone instead to teleport, hence the absence of the pattern. This is supported by the absence of that pattern too in the first instance of teleportation by the space stone (Red Skull) in Captain America: The First Avenger.

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