  This paper presents a continuum mechanics-based approach for real-time
deployment (RTD) of a multi-quadcopter system between moving initial and final
configurations arbitrarily distributed in a 3-D motion space. The proposed RTD
problem is decomposed into spatial planning, temporal planning and acquisition
sub-problems. For the spatial planning, the RTD desired coordination is defined
by integrating (i) rigid-body rotation, (ii) one-dimensional homogeneous
deformation, and (ii) one-dimensional heterogeneous coordination such that
necessary conditions for inter-agent collision avoidance between every two
quadcopter UAVs are satisfied. By the RTD temporal planning, this paper
suffices the inter-agent collision avoidance between every two individual
quadcopters, and assures the boundedness of the rotor angular speeds for every
individual quadcopter. For the RTD acquisition, each quadcopter modeled by a
nonlinear dynamics applies a nonlinear control to stably and safely track the
desired RTD trajectory such that the angular speeds of each quadcopter remain
bounded and do not exceed a certain upper limit.
