Fast and In Sync: Periodic Swarm Patterns for Quadrotors
  This paper aims to design quadrotor swarm performances, where the swarm acts
as an integrated, coordinated unit embodying moving and deforming objects. We
divide the task of creating a choreography into three basic steps: designing
swarm motion primitives, transitioning between those movements, and
synchronizing the motion of the drones. The result is a flexible framework for
designing choreographies comprised of a wide variety of motions. The motion
primitives can be intuitively designed using few parameters, providing a rich
library for choreography design. Moreover, we combine and adapt existing goal
assignment and trajectory generation algorithms to maximize the smoothness of
the transitions between motion primitives. Finally, we propose a correction
algorithm to compensate for motion delays and synchronize the motion of the
drones to a desired periodic motion pattern. The proposed methodology was
validated experimentally by generating and executing choreographies on a swarm
of 25 quadrotors.
