{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T20:57:47Z","timestamp":1740171467755,"version":"3.37.3"},"reference-count":25,"publisher":"World Scientific Pub Co Pte Ltd","issue":"01","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Un. Sys."],"published-print":{"date-parts":[[2018,1]]},"abstract":"<jats:p> This paper proposes a systematic methodology for the guidance, control, and navigation of a quadrotor to perform a choreographed dance in real-time as a function of, and interacting with, the music performed by an artist-in-the-loop. This methodology allows for a real-time interaction with improvized music by an artist based on the pitch of the acoustic signal being played without prior knowledge of the music. The four main components of a human choreography (namely, the notions of space, shape, time and structure) are analyzed and mathematically formulated for a robotic performance. A new approach for mapping music features to trajectory parameters is proposed, as well as the design of a trajectory shaping filter based on two coefficients that are set in real-time by an artist through a MIDI foot-pedal board. The proposed approach maps motion parameters and the music to trajectory motifs that are then switched in harmony with the chord structure. The overall system is validated in a hardware-in-the-loop simulation where the hardware will consist of the musical instrument and the foot pedals. In the simulation, the trajectory generator system is inverted to generate a sequence of music pitches from the actual trajectory of the quadrotor. The music generated by the quadrotor is then played back to the musician allowing for real-time interaction. The simulation results show that the proposed methodology yields an effective performance for a quadrotor choreography based on the real-time interaction with a musician. The proposed system was successfully used by an artist as can be seen in a video link to the work described in this paper and listed in the conclusions. <\/jats:p>","DOI":"10.1142\/s2301385018500012","type":"journal-article","created":{"date-parts":[[2017,11,3]],"date-time":"2017-11-03T04:12:07Z","timestamp":1509682327000},"page":"1-13","source":"Crossref","is-referenced-by-count":8,"title":["Trajectory Planning and Control of a Quadrotor Choreography for Real-Time Artist-in-the-Loop Performances"],"prefix":"10.1142","volume":"06","author":[{"given":"Michael","family":"El-Jiz","sequence":"first","affiliation":[{"name":"Department of Electrical and Computer Engineering, Concordia University, 1515 St. Catherine Street, EV5.139, Montreal, QC, Canada"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1389-6606","authenticated-orcid":false,"given":"Luis","family":"Rodrigues","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, Concordia University, 1515 St. Catherine Street, EV5.139, Montreal, QC, Canada"}]}],"member":"219","published-online":{"date-parts":[[2018,4,16]]},"reference":[{"key":"S2301385018500012BIB007","doi-asserted-by":"publisher","DOI":"10.1016\/0898-1221(96)00081-8"},{"key":"S2301385018500012BIB010","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-03904-6_4"},{"key":"S2301385018500012BIB011","doi-asserted-by":"publisher","DOI":"10.1063\/1.882215"},{"key":"S2301385018500012BIB013","doi-asserted-by":"publisher","DOI":"10.1109\/PROC.1977.10747"},{"key":"S2301385018500012BIB015","doi-asserted-by":"publisher","DOI":"10.1121\/1.1910902"},{"volume-title":"Digital Signal Processing","year":"1975","author":"Oppenheim A. 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