Quadcopter formation simulated in a choreographed dance to music

Abstract: The purpose of this project is to simulate a dance formation for a group of quadcopters, moving in rhythm to music. Focus has lied on getting the dance to move in synchronization to the music. A description of the quadcopter and its dynamics is made. After simplifications was made, the dance was designed by controlling the velocities of the quadcopters. A song was chosen for the music and a beat detection analysis was made to calculate the number of beats per minute (BPM) of the song. The BPM was used when creating the dance formation. Velocity restrictions and the composition of the music was the governing factors of how the dance was designed. A feedback control was implemented into the dance formation. The simulation was performed in MATLAB and a video was made of the resulting dance. The idea is that the simulation can be tested on real quadcopters, additions to the project can be made for future work to implement this.