Issues of indoor control of a swarm of drones in the context of an opera directed by a Soundpainter

Among the many issues one encounters today with drones, and especially with swarms of drones, positioning has become more and more crucial. Even though technologies such as GNSS and sensor based location systems have become mature, they are only efficient, i.e. accurate, outside of buildings and in environments that are not adverse (no jamming). In this paper, to go beyond the state of the art, we present the issues of indoor and adverse locations and provide retex based on our previous and current research work. Our use case is an indoor show using a swarm of drones directed by a Soundpainting artist.