# Fast and In Sync: Periodic Swarm Patterns for Quadrotors

arXiv: https://arxiv.org/abs/1810.03572 · HTML: https://mlsanity.com/paper/1810.03572/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 8 Oct 2018.

## Built on by (most cited first, 1 of 1)

- [SwarmGPT: Combining Large Language Models with Safe Motion Planning for Drone Swarm Choreography](https://mlsanity.com/paper/2412.08428/) (2024)

## Abstract (arXiv)

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.