Aerial cinematography is significantly expanding the capabilities of film-makers. Recent progress in autonomous unmanned aerial vehicles (UAVs) has further increased the potential impact of aerial cameras, with systems that can safely track actors in unstructured cluttered environments. Professional productions, however, require the use of multiple cameras simultaneously to record different viewpoints of the same scene, which are edited into the final footage either in real time or in post-production. Such extreme motion coordination is particularly hard for unscripted action scenes, which are a common use case of aerial cameras. In this work we develop a real-time multi-UAV coordination system that is capable of recording dynamic targets while maximizing shot diversity and avoiding collisions and mutual visibility between cameras. We validate our approach in multiple cluttered environments of a photo-realistic simulator, and deploy the system using two UAVs in real-world experiments. We show that our coordination scheme has low computational cost and takes only 1.17 ms on average to plan for a team of 3 UAVs over a 10 s time horizon. Supplementary video: https://youtu.be/m2R3anv2ADE

中文翻译：

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你看见我看到的了吗？为机器人摄影协调多台航空摄影机

航拍电影极大地扩展了电影制作人的能力。自主无人机 (UAV) 的最新进展进一步增加了航拍相机的潜在影响，其系统可以在非结构化的杂乱环境中安全地跟踪行动者。然而，专业制作需要同时使用多台摄像机来记录同一场景的不同视点，然后实时或在后期制作中将其编辑为最终镜头。这种极端的运动协调对于无脚本的动作场景尤其困难，这是航拍相机的常见用例。在这项工作中，我们开发了一个实时多无人机协调系统，该系统能够记录动态目标，同时最大限度地提高镜头多样性并避免相机之间的碰撞和相互可见。我们在逼真的模拟器的多个杂乱环境中验证了我们的方法，并在实际实验中使用两架无人机部署系统。我们表明，我们的协调方案具有较低的计算成本，并且在 10 秒的时间范围内为由 3 架无人机组成的团队进行规划平均只需 1.17 毫秒。补充视频：https://youtu.be/m2R3anv2ADE