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

本文提出了一种与执行自主摄影的无人飞行器（UAV）团队一起规划最佳轨迹的方法。该方法能够在线且以分布式方式计划轨迹，从而在无人机之间提供协调。我们针对计算摄影的多UAV最佳轨迹这一具有挑战性的问题提出了一种新颖的非线性公式；整合了无人机的动力学特性和避免碰撞的约束条件，以及诸如平滑度，万向节机械限制和相互的摄像机可见度之类的摄影方面的信息。我们将我们的方法集成到了无人机摄影的硬件和软件架构中，该架构先前是在MultiDrone框架内开发的项目; 并演示其在户外拍摄移动目标时所用的不同类型的镜头中的用法。我们在模拟和现场实验中均提供广泛的实验结果。我们分析了该方法的性能，并证明了该方法能够计算在线平滑轨迹，减少抖动运动并符合摄影限制。