The DOI matches its Crossref record; 12 of the 12 references it cites were found in a registry or an index.
Fast and In Sync: Periodic Swarm Patterns for Quadrotors
Abstract
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 a 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.
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“In aerial swarm choreography, prior work has primarily relied on manually constructed sequences of motion primitives with hand-tuned parameters [23], [24].These approaches require expert involvement to align choreography with musical timing and expression.”
From SwarmGPT: Combining Large Language Models With Safe Motion Planning for Drone Swarm Choreography (2025) · cites this paper as [23]
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Cites
The Hungarian method for the assignment problem
Kuhn, H. W. (1955) · Naval Research Logistics Quarterly · doi:10.1002/nav.3800020109 · Cited by 13,120
Wächter, A., & Biegler, L. T. (2006) · Mathematical Programming · doi:10.1007/s10107-004-0559-y · Cited by 9,483
Minimum snap trajectory generation and control for quadrotors
Mellinger, D., & Kumar, V. (2011) · 2011 IEEE International Conference on Robotics and Automation · doi:10.1109/icra.2011.5980409 · Cited by 2,367
Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Environments
Richter, C., Bry, A., & Roy, N. (2016) · Springer Tracts in Advanced Robotics · doi:10.1007/978-3-319-28872-7_37 · Cited by 747
Crazyswarm: A large nano-quadcopter swarm
Preiss, J. A., Honig, W., Sukhatme, G. S., & Ayanian, N. (2017) · 2017 IEEE International Conference on Robotics and Automation (ICRA) · doi:10.1109/icra.2017.7989376 · Cited by 424
Decoupled multiagent path planning via incremental sequential convex programming
Chen, Y., Cutler, M., & How, J. P. (2015) · 2015 IEEE International Conference on Robotics and Automation (ICRA) · doi:10.1109/icra.2015.7140034 · Cited by 159
Goal assignment and trajectory planning for large teams of interchangeable robots
Turpin, M., Mohta, K., Michael, N., & Kumar, V. (2014) · Autonomous Robots · doi:10.1007/s10514-014-9412-1 · Cited by 91
Downwash-aware trajectory planning for large quadrotor teams
Preiss, J. A., Hönig, W., Ayanian, N., & Sukhatme, G. S. (2017) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2017.8202165 · Cited by 77
Synchronizing the motion of a quadrocopter to music
Schoellig, A. P., Augugliaro, F., Lupashin, S., & D’Andrea, R. (2010) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2010.5509755 · Cited by 50
Self-citationDance of the Flying Machines: Methods for Designing and Executing an Aerial Dance Choreography
Augugliaro, F., Schoellig, A. P., & D'Andrea, R. (2013) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2013.2275693 · Cited by 25
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Research works printed but not linked: 2
- georgi, 1993, The Physics of Waves
- 2018, Intel breaks guinness world records title for drone light shows in celebration of 50th anniversary
Cited by
SwarmGPT: Combining Large Language Models With Safe Motion Planning for Drone Swarm Choreography
Schuck, M., Dahanaggamaarachchi, D. O., Sprenger, B., Vyas, V., Zhou, S., & Schoellig, A. P. (2025) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2025.3619745 · Cited by 18
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Metadata
- Authors
- Du, X., Luis, C. E., Vukosavljev, M., & Schoellig, A. P.
- Venue
- 2019 International Conference on Robotics and Automation (ICRA)
- Publisher
- IEEE
- Published
- 2019-05
- Pages
- 9143-9149
- Cited by
- 18
- References
- 12
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- Du, X., Luis, C. E., Vukosavljev, M., & Schoellig, A. P. (2019). Fast and In Sync: Periodic Swarm Patterns for Quadrotors. 2019 International Conference on Robotics and Automation (ICRA). https://doi.org/10.1109/icra.2019.8794017
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
