Chapter

Controls and Art

pp 73-105

Date:

So You Think You Can Dance? Rhythmic Flight Performances with Quadrocopters

  • Angela P. SchoelligAffiliated withInstitute for Aerospace Studies, University of Toronto Email author 
  • , Hallie SiegelAffiliated withInstitute for Dynamic Systems and Control, ETH Zurich
  • , Federico AugugliaroAffiliated withInstitute for Dynamic Systems and Control, ETH Zurich
  • , Raffaello D’AndreaAffiliated withInstitute for Dynamic Systems and Control, ETH Zurich

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Abstract

This chapter reviews an approach for generating rhythmic flight motions that are executed by quadrocopters and timed to music. It represents a research and artistic experiment, which explores for the first time the potential of using flying vehicles in rhythmic, musical performances. We introduce periodic movements as the basic motion elements of such a performance, and derive control algorithms for guiding the vehicles along the desired motion paths and synchronizing their motion to the music. The vehicle dynamics and constraints are taken into account to determine, prior to flight, which motions are feasible. We demonstrate the resulting multivehicle flight performances at the ETH Zurich Flying Machine Arena.

Keywords

Flying robots Quadrocopters Rhythmic flight Trajectory planning Motion feasibility Motion–music synchronization