# Autonomous Planning for Multiple Aerial Cinematographers

arXiv: https://arxiv.org/abs/2005.07237 · HTML: https://mlsanity.com/paper/2005.07237/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 14 May 2020.

## Built on by (most cited first, 2 of 2)

- [3D Human Reconstruction in the Wild with Collaborative Aerial Cameras](https://mlsanity.com/paper/2108.03936/) (2021)
- [Greedy Perspectives: Multi-Drone View Planning for Collaborative Perception in Cluttered Environments](https://mlsanity.com/paper/2310.10863/) (2023)

## Abstract (arXiv)

This paper proposes a planning algorithm for autonomous media production with multiple Unmanned Aerial Vehicles (UAVs) in outdoor events. Given filming tasks specified by a media Director, we formulate an optimization problem to maximize the filming time considering battery constraints. As we conjecture that the problem is NP-hard, we consider a discretization version, and propose a graph-based algorithm that can find an optimal solution of the discrete problem for a single UAV in polynomial time. Then, a greedy strategy is applied to solve the problem sequentially for multiple UAVs. We demonstrate that our algorithm is efficient for small teams (3-5 UAVs) and that its performance is close to the optimum. We showcase our system in field experiments carrying out actual media production in an outdoor scenario with multiple UAVs.