  This paper offers an algorithmic approach to plan continuum deformation of a
multi-quadcopter system (MQS) in an obstacle-laden environment. We treat the
MQS as finite number of particles of a deformable body coordinating under a
homogeneous transformation. In this context, we define the MQS homogeneous
deformation coordination as a decentralized leader-follower problem, and
integrate the principles of continuum mechanics, A-Star search method, and
optimal control to safety and optimally plan MQS continuum deformation
coordination. In particular, we apply the principles of continuum mechanics to
obtain the safety constraints, use the A-Star search method to assign the
intermediate configurations of the leaders by minimizing the travel distance of
the MQS, and determine the leaders' optimal trajectories by solving a
constrained optimal control problem. The optimal planning of the continuum
deformation coordination is acquired by the quadcopter team in a decentralized
fashion through local communication.
