Just watched this fascinating and terrifying video. I'm curious what programming language / paradigm is used to control these beasties?
The term I see most often for the algorithms is decentralized adaptive control. There are some papers available from the group that designed it, although their site looks like it hasn't been updated in a few years.
According to this electronic design article, the quadrotors are running Robot Operating System (ROS), which has support for both python and C++. I couldn't find which language is used on this particular project.