In the past decade, small quadrotors have been widely used in various areas ranging from military to entertainment applications. Recently, quadrotors have become popular for demonstrating choreographed aerial maneuvers such as dancing and playing musical instruments with collaborative control of multiple vehicle systems. For collaborative control, several techniques are required. First, localization recognition is required to avoid collisions. Second, reliable communication is needed in order to receive information from multiple vehicles without disconnection. Finally, a ground control station is needed which can control multiple vehicles and play a mission scenario for the maneuvers. In order to accurately control multiple quadrotors indoors, a motion capture based system was developed. However, this system is expensive and sensitive to the surrounding environment. In this paper, we propose multiple AR.Drone control systems based on marker image with motion capture for an indoor environment in which GPS information cannot be received. We demonstrate aerial choreography with multiple quadrotors in accordance with a mission scenario.