dc.creator | Alcántara Marín, Alfonso | es |
dc.creator | Capitán Fernández, Jesús | es |
dc.creator | Cunha, Rita | es |
dc.creator | Ollero Baturone, Aníbal | es |
dc.date.accessioned | 2022-09-26T14:19:35Z | |
dc.date.available | 2022-09-26T14:19:35Z | |
dc.date.issued | 2021 | |
dc.identifier.citation | Alcántara Marín, A., Capitán Fernández, J., Cunha, R. y Ollero Baturone, A. (2021). Optimal trajectory planning for cinematography with multiple Unmanned Aerial Vehicles. Robotics and Autonomous Systems, 140, Article number 103778. | |
dc.identifier.issn | 0921-8890 | es |
dc.identifier.uri | https://hdl.handle.net/11441/137381 | |
dc.description | Article number 103778 | es |
dc.description.abstract | 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. | es |
dc.description.sponsorship | Horizonte 2020 731667 | es |
dc.description.sponsorship | European Commission (EC). Fondo Europeo de Desarrollo Regional (FEDER) US-1265072 | es |
dc.format | application/pdf | es |
dc.format.extent | 14 p. | es |
dc.language.iso | eng | es |
dc.publisher | Elsevier B.V. | es |
dc.relation.ispartof | Robotics and Autonomous Systems, 140, Article number 103778. | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Optimal trajectory planning | es |
dc.subject | UAV cinematography | es |
dc.subject | Multi-UAV coordination | es |
dc.title | Optimal trajectory planning for cinematography with multiple Unmanned Aerial Vehicles | es |
dc.type | info:eu-repo/semantics/article | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/acceptedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática | es |
dc.relation.projectID | 731667 | es |
dc.relation.projectID | US-1265072 | es |
dc.relation.publisherversion | https://www.sciencedirect.com/science/article/pii/S0921889021000634 | es |
dc.identifier.doi | 10.1016/j.robot.2021.103778 | es |
dc.journaltitle | Robotics and Autonomous Systems | es |
dc.publication.volumen | 140 | es |
dc.publication.initialPage | Article number 103778 | es |