Realization of swarm formation flying and optimal trajectory generation for multi-drone performance show

In this paper, we introduce the multi-drone platform which is realized by swarm algorithm. One of the most challenging problems when maneuvering multiple drones is guaranteeing collision avoidance. Since our swarm algorithm is based on the artificial potential function(APF), collision avoidance between quadrotors is guaranteed. First, the constructive way to generate swarm controller will be given in detail. Then, swarm-based platform can be applied to useful application such as visual performance show using multiple drones. The optimal trajectory generation method is also provided by using optimization technique.