Choreographing Theatrical Scenes for Aerial Robots through Keyframe Interpolation

We detail an approach for translating storyboarding, a common method of spatial and temporal motion design used by choreographers and theatric directors, into dynamically feasible trajectories for multiple aerial vehicles for use in theatric performances. We show flight results for motions designed for groups of four, six, and eight quadrotors, and discuss design considerations for extending the implementation to more complex choreographies.