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arXiv · 2310.13184

Enhancing Multi-Drone Coordination for Filming Group Behaviours in Dynamic Environments

Aditya Rauniyar·Jiaoyang Li·Sebastian Scherer
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Abstract

Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics and AI, with numerous applications in real-world scenarios. One such scenario is filming scenes with multiple actors, where the goal is to capture the scene from multiple angles simultaneously. Here, we present a formation-based filming directive of task assignment followed by a Conflict-Based MAPF algorithm for efficient path planning of multiple agents to achieve filming objectives while avoiding collisions. We propose an extension to the standard MAPF formulation to accommodate actor-specific requirements and constraints. Our approach incorporates Conflict-Based Search, a widely used heuristic search technique for solving MAPF problems. We demonstrate the effectiveness of our approach through experiments on various MAPF scenarios in a simulated environment. The proposed algorithm enables the efficient online task assignment of formation-based filming to capture dynamic scenes, making it suitable for various filming and coverage applications.

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Aditya Rauniyar, Jiaoyang Li, Sebastian Scherer. 2023-10-19. Enhancing Multi-Drone Coordination for Filming Group Behaviours in Dynamic Environments. https://arxiv.org/abs/2310.13184

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