In this research work, we consider the control issues related to the recording of a moving ob-ject in a cinematographic environment using multiple quadrotors or Unmanned Aerial Vehicles(UAV). First of all, we propose a model of a quadrotor with nonlinear dynamics which physicallyrepresents the behaviour of this machine, to later linearize it in order to obtain a suitable con-trol law. After that, we propose a Consensus-Based Cooperative Control so the quadrotors canfly in formation around the moving object and record it from the desired angles. This controltechnique uses a network structure that represents how the UAVs are connected to each othersharing their information. With that, each quadrotor can be aware of the state of the others in or-der to properly control the formation of the team. Then, various collision avoidance algorithmsare proposed in order to make the flights secure, so the quadrotors do not crash. Moreover, acollision avoidance technique is proposed for the camera control so the UAVs do not get insidethe Field of View (FoV) of the other recording drones. That way, the shots taken are suitablefor cinematographic purposes. All the control algorithms are validated with simulation and,finally, a real machine experiment using commercial quadrotors is proposed

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