I have recently defended my PhD thesis titled "Distributed formation control for autonomous robots". Now I am wrapping up the results in the form of videos. Here it is just one of these results.
In the following video I show how a single control law for a team of drones can achieve simultaneously a desired shape, orientation and translational motion. By single I mean no cascade or different controllers. In fact it is just a single line of code.
The required information is very minimal. The drones can work in their own frames of coordinates, they do not need to share (communication) information, and they only interact locally with their neighbors but still achieve a global goal.
All the mathematical stuff, proofs, algorithm, etc can be found in the manuscript of the thesis.
Sorry for the resolution of the video, but I was running four instances of X-Plane at the same time in my computer xD.