Optimal trajectory planning for cinematography with multiple Unmanned Aerial Vehicles

This paper presents a method for planning optimal trajectories with team of Unmanned Aerial Vehicles (UAVs) performing autonomous cinematography. The is able to plan online and in distributed manner, providing coordination between the UAVs. We propose novel non-linear formulation this challenging problem computing multi-UAV cinematography; integrating UAVs dynamics collision avoidance constraints, together cinematographic aspects like smoothness, gimbal mechanical limits mutual camera visibility. integrate our within hardware software architecture UAV cinematography that was previously developed framework MultiDrone project; demonstrate its use different types shots filming moving target outdoors. provide extensive experimental results both simulation field experiments. analyze performance prove it compute smooth trajectories, reducing jerky movements complying constraints.