论文标题
多个航空摄影师的自主计划
Autonomous Planning for Multiple Aerial Cinematographers
论文作者
论文摘要
本文提出了一种在户外活动中使用多个无人驾驶汽车（UAV）的自动媒体生产的计划算法。给定媒体主管指定的拍摄任务，我们制定了一个优化问题，以最大限度地考虑电池限制的拍摄时间。当我们猜想问题是NP-HARD时，我们考虑了一个离散化版本，并提出了一种基于图的算法，该算法可以在多项式时间内找到单个UAV的离散问题的最佳解决方案。然后，采用贪婪的策略来依次解决多个无人机的问题。我们证明我们的算法对于小型团队（3-5个无人机）是有效的，并且其性能接近最佳。我们在现场实验中展示了在具有多个无人机的室外场景中进行实际媒体生产的系统。
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.
